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piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10001028.json

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+{
+  "seen": [
+    "Use the nail-driving hammer to beat after grabbing with the left arm",
+    "Utilize the left arm to hold the black and yellow hammer grip and strike.",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Grab the nail-driving hammer, then hit the block",
+    "Lift the hammer with claw-shaped end using the left arm to hit the block.",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Hold the silver curved hammer head then hit the block",
+    "Take the yellow and black hammer grip using the left arm, hit the block.",
+    "Grab the grippy handle hammer to beat the block.",
+    "Grab the silver curved hammer head using the left arm, then beat the block",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Grab the grippy handle hammer using the left arm and strike the block",
+    "Take the nail-driving hammer and smash the block.",
+    "Pick up the grippy handle hammer with the left arm, strike the block.",
+    "Take the silver curved hammer head and hammer the block",
+    "Grab the silver curved hammer head with the left arm and hit the block",
+    "With the left arm, grab the silver curved hammer head and beat the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Lift the silver hammer, then beat the block.",
+    "Use the left arm to take the nail-driving hammer and strike",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "With the left arm, grab the silver hammer and hammer the block",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Pick up the nail-driving hammer and strike the block",
+    "Grab the nail-driving hammer using the left arm then pound block",
+    "Grab the grippy handle hammer with the left arm and beat the block.",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "With the left arm, grab the nail-driving hammer and hit the block",
+    "Take the nail-driving hammer and strike the block",
+    "Grab the hammer with two-tone handle with the left arm and hit block",
+    "Take the hammer with two-tone handle and strike the block",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "Grab the black and yellow hammer grip with the left arm and strike block",
+    "Pick the nail-driving hammer with the left arm and hit the block",
+    "With the left arm, pick up the black and yellow hammer grip and strike the block.",
+    "Grab the medium-sized metal hammer using the left arm and hit the block",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Employ the left arm to grab the nail-driving hammer and hit.",
+    "Lift the nail-driving hammer with the left arm then strike block",
+    "Use the left arm to grab the silver curved hammer head and beat block",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Make the left arm grab the medium-sized metal hammer and strike the block.",
+    "Use the left arm to grab the silver hammer and beat",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Pick up the silver hammer using the left arm, hammer the block.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Pick the nail-driving hammer and strike the block.",
+    "Use the hammer for nails to beat after grabbing with the left arm",
+    "Utilize the left arm to hold the silver curved hammer head and strike.",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Lift the hammer for nails and hit the block.",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Lift the yellow and black hammer grip using the left arm to hit the block.",
+    "Use the nail-driving hammer to hammer the block.",
+    "Hold the hammer for nails then hit the block",
+    "Take the silver hammer using the left arm, hit the block.",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Pick the nail-driving hammer and smash the block",
+    "Grab the yellow and black hammer grip using the left arm and strike the block",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Pick up the black and yellow hammer grip with the left arm, strike the block.",
+    "Take the grippy handle hammer and hammer the block",
+    "Grab the grippy handle hammer with the left arm and hit the block",
+    "With the left arm, grab the black and yellow hammer grip and beat the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Lift the yellow and black hammer grip, then beat the block.",
+    "Use the left arm to take the handheld medium claw hammer and strike",
+    "Grip the silver hammer firmly and hit the block.",
+    "With the left arm, grab the silver curved hammer head and hammer the block",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Grab the handheld medium claw hammer using the left arm then pound block",
+    "Grab the plastic handle metal hammer with the left arm and beat the block.",
+    "Grab the grippy handle hammer and use it to hit",
+    "With the left arm, grab the plastic handle metal hammer and hit the block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Grab the hammer for nails with the left arm and hit block",
+    "Take the hammer for nails and strike the block",
+    "Pick up the silver curved hammer head using the left arm then beat",
+    "Grab the plastic handle metal hammer with the left arm and strike block",
+    "Pick the handheld medium claw hammer with the left arm and hit the block",
+    "With the left arm, pick up the hammer with two-tone handle and strike the block.",
+    "Grab the silver hammer using the left arm and hit the block",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Employ the left arm to grab the silver curved hammer head and hit.",
+    "Lift the hammer with claw-shaped end with the left arm then strike block",
+    "Use the left arm to grab the handheld medium claw hammer and beat block",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Make the left arm grab the medium-sized metal hammer and strike the block.",
+    "Use the left arm to grab the hammer with claw-shaped end and beat",
+    "Pick the silver curved hammer head from the table and strike",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "Take the medium-sized metal hammer and beat the block",
+    "Pick the grippy handle hammer and strike the block."
+  ],
+  "unseen": [
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10001150.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, grab the black and yellow hammer grip and hammer the block",
+    "Take the yellow and black hammer grip using the right arm, hit the block.",
+    "Grab the hammer with claw-shaped end to beat the block.",
+    "Grab the plastic handle metal hammer, then hit the block",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Grab the grippy handle hammer and use it to hit",
+    "Grab the silver hammer with the right arm and beat the block.",
+    "Use the right arm to grab the grippy handle hammer and beat",
+    "Grab the silver hammer with the right arm and strike block",
+    "Grab the grippy handle hammer using the right arm and strike the block",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Use the silver hammer to beat after grabbing with the right arm",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Pick the handheld medium claw hammer with the right arm and hit the block",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Take the silver curved hammer head and strike the block",
+    "Lift the plastic handle metal hammer using the right arm to hit the block.",
+    "Employ the right arm to grab the medium-sized metal hammer and hit.",
+    "Pick the nail-driving hammer and strike the block.",
+    "Pick up the handheld medium claw hammer using the right arm, hammer the block.",
+    "Lift the hammer with two-tone handle, then beat the block.",
+    "Grab the handheld medium claw hammer with the right arm and hit block",
+    "Hold the grippy handle hammer and pound the block.",
+    "Lift the hammer for nails with the right arm then strike block",
+    "With the right arm, grab the grippy handle hammer and hit the block",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "With the right arm, pick up the handheld medium claw hammer and strike the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "Utilize the right arm to hold the silver hammer and strike.",
+    "Lift the medium-sized metal hammer and hit the block.",
+    "Use the right arm to grab the silver curved hammer head and beat block",
+    "Take the silver curved hammer head and strike the block",
+    "Pick the grippy handle hammer and smash the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Grab the silver curved hammer head using the right arm then pound block",
+    "Pick up the hammer with claw-shaped end using the right arm then beat",
+    "Grab the yellow and black hammer grip using the right arm, then beat the block",
+    "Use the right arm to take the grippy handle hammer and strike",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Grab the black and yellow hammer grip using the right arm and hit the block",
+    "Make the right arm grab the black and yellow hammer grip and strike the block.",
+    "Hold the silver curved hammer head then hit the block",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Catch the nail-driving hammer and use it on the block.",
+    "With the right arm, grab the black and yellow hammer grip and beat the block.",
+    "Pick up the medium-sized metal hammer with the right arm, strike the block.",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Grab the hammer with two-tone handle with the right arm and hit the block",
+    "With the right arm, grab the handheld medium claw hammer and hammer the block",
+    "Take the plastic handle metal hammer using the right arm, hit the block.",
+    "Grab the silver curved hammer head to beat the block.",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Grab the silver hammer and use it to hit",
+    "Grab the plastic handle metal hammer with the right arm and beat the block.",
+    "Use the right arm to grab the black and yellow hammer grip and beat",
+    "Grab the hammer with claw-shaped end with the right arm and strike block",
+    "Grab the handheld medium claw hammer using the right arm and strike the block",
+    "Take the grippy handle hammer and hammer the block",
+    "Use the yellow and black hammer grip to beat after grabbing with the right arm",
+    "Beat the block after grabbing the yellow and black hammer grip",
+    "Pick the hammer for nails with the right arm and hit the block",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Take the nail-driving hammer and strike the block",
+    "Lift the silver curved hammer head using the right arm to hit the block.",
+    "Employ the right arm to grab the medium-sized metal hammer and hit.",
+    "Pick the silver hammer and strike the block.",
+    "Pick up the plastic handle metal hammer using the right arm, hammer the block.",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Grab the black and yellow hammer grip with the right arm and hit block",
+    "Hold the silver hammer and pound the block.",
+    "Lift the yellow and black hammer grip with the right arm then strike block",
+    "With the right arm, grab the hammer with two-tone handle and hit the block",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Grab the silver curved hammer head, then strike the block.",
+    "With the right arm, pick up the handheld medium claw hammer and strike the block.",
+    "Take the hammer for nails and beat the block",
+    "Utilize the right arm to hold the nail-driving hammer and strike.",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Use the right arm to grab the black and yellow hammer grip and beat block",
+    "Take the hammer with two-tone handle and strike the block",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Grab the silver curved hammer head using the right arm then pound block",
+    "Pick up the silver curved hammer head using the right arm then beat",
+    "Grab the black and yellow hammer grip using the right arm, then beat the block",
+    "Use the right arm to take the hammer with two-tone handle and strike",
+    "Use the silver curved hammer head to hammer the block.",
+    "Grab the black and yellow hammer grip using the right arm and hit the block",
+    "Make the right arm grab the hammer for nails and strike the block.",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "Catch the nail-driving hammer and use it on the block.",
+    "With the right arm, grab the silver hammer and beat the block.",
+    "Pick up the yellow and black hammer grip with the right arm, strike the block.",
+    "Lift the grippy handle hammer and hit the block",
+    "Grab the black and yellow hammer grip with the right arm and hit the block"
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the right arm to pick up the hammer with claw and smooth head."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10002140.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the silver hammer using the left arm and hit the block",
+    "With the left arm, grab the silver hammer and hammer the block",
+    "Grab the grippy handle hammer and use it to hit",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Grab the hammer with two-tone handle with the left arm and hit block",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Pick the hammer for nails with the left arm and hit the block",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Grab the hammer with claw-shaped end using the left arm and strike the block",
+    "Make the left arm grab the nail-driving hammer and strike the block.",
+    "Take the handheld medium claw hammer and strike the block",
+    "Use the left arm to grab the medium-sized metal hammer and beat",
+    "With the left arm, pick up the silver curved hammer head and strike the block.",
+    "Lift the grippy handle hammer and hit the block.",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Pick up the plastic handle metal hammer with the left arm, strike the block.",
+    "Grab the nail-driving hammer with the left arm and beat the block.",
+    "Take the silver curved hammer head using the left arm, hit the block.",
+    "Pick up the nail-driving hammer using the left arm, hammer the block.",
+    "Pick the hammer for nails from the table and strike",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "With the left arm, grab the plastic handle metal hammer and beat the block.",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Pick the silver hammer and smash the block",
+    "Use the left arm to take the nail-driving hammer and strike",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Grab the handheld medium claw hammer with the left arm and strike block",
+    "Take the nail-driving hammer and beat the block",
+    "Use the hammer with claw-shaped end to beat after grabbing with the left arm",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "Take the nail-driving hammer and beat the block",
+    "With the left arm, grab the handheld medium claw hammer and hit the block",
+    "Grab the grippy handle hammer with the left arm and hit the block",
+    "Grab the yellow and black hammer grip using the left arm then pound block",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Take the grippy handle hammer and smash the block.",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "Lift the hammer with two-tone handle using the left arm to hit the block.",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Lift the silver curved hammer head with the left arm then strike block",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Grab the silver curved hammer head to beat the block.",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Grab the medium-sized metal hammer using the left arm and hit the block",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Pick up the hammer for nails and use it on the block",
+    "Grab the silver hammer with the left arm and hit block",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Pick the silver hammer with the left arm and hit the block",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Grab the nail-driving hammer using the left arm and strike the block",
+    "Make the left arm grab the silver curved hammer head and strike the block.",
+    "Take the silver hammer and strike the block",
+    "Use the left arm to grab the plastic handle metal hammer and beat",
+    "With the left arm, pick up the hammer for nails and strike the block.",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Pick the hammer with two-tone handle and strike the block.",
+    "Grab the hammer with two-tone handle using the left arm, then beat the block",
+    "Pick up the hammer for nails with the left arm, strike the block.",
+    "Grab the plastic handle metal hammer with the left arm and beat the block.",
+    "Take the hammer for nails using the left arm, hit the block.",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "Pick the hammer for nails from the table and strike",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Lift the silver hammer, then beat the block.",
+    "With the left arm, grab the medium-sized metal hammer and beat the block.",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Pick the grippy handle hammer and smash the block",
+    "Use the left arm to take the hammer with two-tone handle and strike",
+    "Beat the block after grabbing the hammer with two-tone handle",
+    "Grab the nail-driving hammer with the left arm and strike block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Use the medium-sized metal hammer to beat after grabbing with the left arm",
+    "Utilize the left arm to hold the grippy handle hammer and strike.",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Pick up the plastic handle metal hammer using the left arm then beat",
+    "Take the hammer with two-tone handle and beat the block",
+    "With the left arm, grab the medium-sized metal hammer and hit the block",
+    "Grab the nail-driving hammer with the left arm and hit the block",
+    "Grab the hammer with claw-shaped end using the left arm then pound block",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Use the grippy handle hammer to hammer the block.",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Use the left arm to grab the hammer for nails and beat block",
+    "Lift the hammer with two-tone handle using the left arm to hit the block.",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Lift the black and yellow hammer grip with the left arm then strike block",
+    "Employ the left arm to grab the silver curved hammer head and hit.",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Hold the silver curved hammer head and pound the block.",
+    "Hold the black and yellow hammer grip then hit the block"
+  ],
+  "unseen": [
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the hammer with black handle to strike the block"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10005020.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the yellow and black hammer grip and beat the block",
+    "Pick up the grippy handle hammer and strike the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Grab the black and yellow hammer grip with the right arm and strike block",
+    "With the right arm, grab the black and yellow hammer grip and hit the block",
+    "Pick the silver curved hammer head from the table and strike",
+    "Pick up the medium-sized metal hammer using the right arm, hammer the block.",
+    "Grab the medium-sized metal hammer with the right arm and hit the block",
+    "With the right arm, grab the handheld medium claw hammer and beat the block.",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Employ the right arm to grab the hammer for nails and hit.",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Pick the black and yellow hammer grip with the right arm and hit the block",
+    "Grab the hammer for nails and use it to hit",
+    "Use the right arm to take the silver hammer and strike",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Pick up the silver hammer and use it on the block",
+    "Pick the hammer for nails and strike the block.",
+    "Lift the grippy handle hammer and hit the block.",
+    "Grab the black and yellow hammer grip using the right arm, then beat the block",
+    "Grab the hammer with two-tone handle using the right arm and strike the block",
+    "Pick up the nail-driving hammer using the right arm then beat",
+    "Use the right arm to grab the hammer for nails and beat block",
+    "Use the hammer with claw-shaped end to hammer the block.",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Lift the plastic handle metal hammer using the right arm to hit the block.",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Pick up the handheld medium claw hammer with the right arm, strike the block.",
+    "Utilize the right arm to hold the silver curved hammer head and strike.",
+    "Take the hammer for nails and strike the block",
+    "Lift the silver curved hammer head with the right arm then strike block",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Grab the hammer with two-tone handle using the right arm then pound block",
+    "Grab the plastic handle metal hammer using the right arm and hit the block",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Beat the block after grabbing the nail-driving hammer",
+    "With the right arm, grab the hammer with two-tone handle and hammer the block",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Grab the handheld medium claw hammer with the right arm and beat the block.",
+    "Grab the hammer for nails with the right arm and hit block",
+    "Take the medium-sized metal hammer using the right arm, hit the block.",
+    "Use the right arm to grab the hammer with two-tone handle and beat",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Take the nail-driving hammer and strike the block",
+    "With the right arm, pick up the medium-sized metal hammer and strike the block.",
+    "Make the right arm grab the medium-sized metal hammer and strike the block.",
+    "Pick the grippy handle hammer and smash the block",
+    "Take the grippy handle hammer and smash the block.",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Use the plastic handle metal hammer to beat after grabbing with the right arm",
+    "Take the hammer for nails and beat the block",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Grab the nail-driving hammer with the right arm and strike block",
+    "With the right arm, grab the silver curved hammer head and hit the block",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Pick up the nail-driving hammer using the right arm, hammer the block.",
+    "Grab the silver curved hammer head with the right arm and hit the block",
+    "With the right arm, grab the nail-driving hammer and beat the block.",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Employ the right arm to grab the medium-sized metal hammer and hit.",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Pick the yellow and black hammer grip with the right arm and hit the block",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Use the right arm to take the handheld medium claw hammer and strike",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Pick up the hammer for nails and use it on the block",
+    "Pick the grippy handle hammer and strike the block.",
+    "Lift the silver hammer and hit the block.",
+    "Grab the silver hammer using the right arm, then beat the block",
+    "Grab the hammer for nails using the right arm and strike the block",
+    "Pick up the hammer for nails using the right arm then beat",
+    "Use the right arm to grab the handheld medium claw hammer and beat block",
+    "Use the silver curved hammer head to hammer the block.",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Lift the grippy handle hammer using the right arm to hit the block.",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Pick up the nail-driving hammer with the right arm, strike the block.",
+    "Utilize the right arm to hold the black and yellow hammer grip and strike.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Lift the yellow and black hammer grip with the right arm then strike block",
+    "Grab the silver hammer, then strike the block.",
+    "Grab the black and yellow hammer grip using the right arm then pound block",
+    "Grab the grippy handle hammer using the right arm and hit the block",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Beat the block after grabbing the grippy handle hammer",
+    "With the right arm, grab the hammer with two-tone handle and hammer the block",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Grab the silver curved hammer head with the right arm and beat the block.",
+    "Grab the yellow and black hammer grip with the right arm and hit block",
+    "Take the silver curved hammer head using the right arm, hit the block.",
+    "Use the right arm to grab the yellow and black hammer grip and beat",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "With the right arm, pick up the plastic handle metal hammer and strike the block.",
+    "Make the right arm grab the medium-sized metal hammer and strike the block.",
+    "Pick the hammer for nails and smash the block",
+    "Take the grippy handle hammer and smash the block.",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Use the handheld medium claw hammer to beat after grabbing with the right arm"
+  ],
+  "unseen": [
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10005287.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the black and yellow hammer grip and strike the block",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Grab the hammer for nails and use it to hit",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Take the plastic handle metal hammer using the right arm, hit the block.",
+    "Pick up the plastic handle metal hammer with the right arm, strike the block.",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Use the silver hammer to beat after grabbing with the right arm",
+    "Take the grippy handle hammer and smash the block.",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Hold the silver hammer and pound the block.",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Lift the hammer with two-tone handle with the right arm then strike block",
+    "Pick the nail-driving hammer with the right arm and hit the block",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Make the right arm grab the hammer with two-tone handle and strike the block.",
+    "Lift the hammer with claw-shaped end using the right arm to hit the block.",
+    "Grab the handheld medium claw hammer using the right arm, then beat the block",
+    "Grab the plastic handle metal hammer using the right arm and hit the block",
+    "With the right arm, grab the black and yellow hammer grip and hammer the block",
+    "Grab the silver curved hammer head to beat the block.",
+    "Employ the right arm to grab the yellow and black hammer grip and hit.",
+    "Grab the handheld medium claw hammer using the right arm and strike the block",
+    "Take the black and yellow hammer grip and beat the block",
+    "Grab the handheld medium claw hammer with the right arm and strike block",
+    "Utilize the right arm to hold the hammer with claw-shaped end and strike.",
+    "Pick the hammer for nails and strike the block.",
+    "Pick the hammer with claw-shaped end and smash the block",
+    "With the right arm, grab the silver hammer and beat the block.",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Pick up the black and yellow hammer grip using the right arm, hammer the block.",
+    "Use the right arm to grab the silver hammer and beat",
+    "With the right arm, grab the medium-sized metal hammer and hit the block",
+    "Pick up the hammer with two-tone handle using the right arm then beat",
+    "Take the black and yellow hammer grip and strike the block",
+    "Grab the hammer with claw-shaped end with the right arm and beat the block.",
+    "Hold the grippy handle hammer then hit the block",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Use the nail-driving hammer to hammer the block.",
+    "Use the right arm to grab the yellow and black hammer grip and beat block",
+    "Grab the silver curved hammer head with the right arm and hit the block",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Use the right arm to take the silver hammer and strike",
+    "Pick up the medium-sized metal hammer and use it on the block",
+    "With the right arm, pick up the black and yellow hammer grip and strike the block.",
+    "Grab the handheld medium claw hammer using the right arm then pound block",
+    "Grab the hammer with two-tone handle with the right arm and hit block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Pick the silver curved hammer head from the table and strike",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Take the handheld medium claw hammer using the right arm, hit the block.",
+    "Pick up the silver hammer with the right arm, strike the block.",
+    "Grip the hammer for nails firmly and hit the block.",
+    "Use the medium-sized metal hammer to beat after grabbing with the right arm",
+    "Take the silver hammer and smash the block.",
+    "Lift the hammer for nails and hit the block",
+    "Lift the nail-driving hammer and hit the block.",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Lift the yellow and black hammer grip with the right arm then strike block",
+    "Pick the hammer for nails with the right arm and hit the block",
+    "Lift the silver hammer, then beat the block.",
+    "Make the right arm grab the hammer for nails and strike the block.",
+    "Lift the handheld medium claw hammer using the right arm to hit the block.",
+    "Grab the silver curved hammer head using the right arm, then beat the block",
+    "Grab the hammer with claw-shaped end using the right arm and hit the block",
+    "With the right arm, grab the medium-sized metal hammer and hammer the block",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Employ the right arm to grab the hammer with claw-shaped end and hit.",
+    "Grab the silver curved hammer head using the right arm and strike the block",
+    "Take the silver hammer and beat the block",
+    "Grab the hammer for nails with the right arm and strike block",
+    "Utilize the right arm to hold the silver curved hammer head and strike.",
+    "Pick the grippy handle hammer and strike the block.",
+    "Pick the hammer with two-tone handle and smash the block",
+    "With the right arm, grab the yellow and black hammer grip and beat the block.",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Take the medium-sized metal hammer and beat the block",
+    "Pick up the handheld medium claw hammer using the right arm, hammer the block.",
+    "Use the right arm to grab the silver curved hammer head and beat",
+    "With the right arm, grab the silver hammer and hit the block",
+    "Pick up the yellow and black hammer grip using the right arm then beat",
+    "Take the medium-sized metal hammer and strike the block",
+    "Grab the handheld medium claw hammer with the right arm and beat the block.",
+    "Hold the nail-driving hammer then hit the block",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Use the silver curved hammer head to hammer the block.",
+    "Use the right arm to grab the silver curved hammer head and beat block",
+    "Grab the silver hammer with the right arm and hit the block",
+    "Take the silver hammer and hammer the block",
+    "Use the right arm to take the silver curved hammer head and strike",
+    "Pick up the nail-driving hammer and use it on the block",
+    "With the right arm, pick up the handheld medium claw hammer and strike the block.",
+    "Grab the silver hammer using the right arm then pound block",
+    "Grab the nail-driving hammer with the right arm and hit block"
+  ],
+  "unseen": [
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10006052.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the grippy handle hammer using the left arm, hammer the block.",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Grab the yellow and black hammer grip with the left arm and strike block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Utilize the left arm to hold the hammer with claw-shaped end and strike.",
+    "Pick up the yellow and black hammer grip using the left arm then beat",
+    "Grab the black and yellow hammer grip with the left arm and beat the block.",
+    "Lift the black and yellow hammer grip with the left arm then strike block",
+    "Use the left arm to grab the hammer for nails and beat block",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Take the grippy handle hammer and beat the block",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Take the hammer for nails and strike the block",
+    "Make the left arm grab the hammer with two-tone handle and strike the block.",
+    "Hold the medium-sized metal hammer then hit the block",
+    "Pick the silver curved hammer head with the left arm and hit the block",
+    "Lift the silver hammer and hit the block",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Grab the medium-sized metal hammer using the left arm then pound block",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Grip the silver hammer firmly and hit the block.",
+    "Grab the medium-sized metal hammer using the left arm and strike the block",
+    "Grab the hammer with claw-shaped end with the left arm and hit the block",
+    "Pick up the grippy handle hammer with the left arm, strike the block.",
+    "Employ the left arm to grab the grippy handle hammer and hit.",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "Use the plastic handle metal hammer to hammer the block.",
+    "Take the medium-sized metal hammer and smash the block.",
+    "Take the nail-driving hammer and hammer the block",
+    "Take the black and yellow hammer grip using the left arm, hit the block.",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Use the hammer with two-tone handle to beat after grabbing with the left arm",
+    "Lift the handheld medium claw hammer using the left arm to hit the block.",
+    "With the left arm, pick up the medium-sized metal hammer and strike the block.",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Grab the plastic handle metal hammer using the left arm and hit the block",
+    "Grab the nail-driving hammer with the left arm and hit block",
+    "With the left arm, grab the silver hammer and hit the block",
+    "With the left arm, grab the medium-sized metal hammer and beat the block.",
+    "Pick up the plastic handle metal hammer and strike the block",
+    "With the left arm, grab the silver hammer and hammer the block",
+    "Pick the silver curved hammer head from the table and strike",
+    "Use the left arm to take the hammer with two-tone handle and strike",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Grab the hammer with two-tone handle using the left arm, then beat the block",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Pick up the hammer for nails using the left arm, hammer the block.",
+    "Lift the hammer for nails, then beat the block.",
+    "Grab the handheld medium claw hammer with the left arm and strike block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Utilize the left arm to hold the handheld medium claw hammer and strike.",
+    "Pick up the silver curved hammer head using the left arm then beat",
+    "Grab the hammer with two-tone handle with the left arm and beat the block.",
+    "Lift the hammer with two-tone handle with the left arm then strike block",
+    "Use the left arm to grab the medium-sized metal hammer and beat block",
+    "Beat the block after grabbing the silver hammer",
+    "Take the handheld medium claw hammer and beat the block",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Make the left arm grab the nail-driving hammer and strike the block.",
+    "Hold the silver curved hammer head then hit the block",
+    "Pick the silver hammer with the left arm and hit the block",
+    "Lift the grippy handle hammer and hit the block",
+    "Pick the silver curved hammer head and strike the block.",
+    "Grab the hammer with claw-shaped end using the left arm then pound block",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Grab the grippy handle hammer using the left arm and strike the block",
+    "Grab the nail-driving hammer with the left arm and hit the block",
+    "Pick up the silver curved hammer head with the left arm, strike the block.",
+    "Employ the left arm to grab the hammer for nails and hit.",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Take the hammer with two-tone handle and strike the block",
+    "Use the left arm to grab the hammer with claw-shaped end and beat",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Take the nail-driving hammer and smash the block.",
+    "Take the silver hammer and hammer the block",
+    "Take the hammer with claw-shaped end using the left arm, hit the block.",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Use the hammer for nails to beat after grabbing with the left arm",
+    "Lift the black and yellow hammer grip using the left arm to hit the block.",
+    "With the left arm, pick up the nail-driving hammer and strike the block.",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Grab the black and yellow hammer grip using the left arm and hit the block",
+    "Grab the plastic handle metal hammer with the left arm and hit block",
+    "With the left arm, grab the black and yellow hammer grip and hit the block",
+    "With the left arm, grab the hammer with claw-shaped end and beat the block.",
+    "Pick up the medium-sized metal hammer and strike the block",
+    "With the left arm, grab the hammer with two-tone handle and hammer the block",
+    "Pick the hammer with claw-shaped end from the table and strike",
+    "Use the left arm to take the handheld medium claw hammer and strike",
+    "Grab the nail-driving hammer and use it to hit",
+    "Hold the nail-driving hammer and pound the block.",
+    "Grab the black and yellow hammer grip using the left arm, then beat the block",
+    "Grab the medium-sized metal hammer to beat the block."
+  ],
+  "unseen": [
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to pick up the hammer with black handle."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10006144.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the grippy handle hammer and use it to hit",
+    "Grab the black and yellow hammer grip with the left arm and strike block",
+    "Grab the silver curved hammer head using the left arm and hit the block",
+    "Pick up the yellow and black hammer grip using the left arm then beat",
+    "Lift the medium-sized metal hammer with the left arm then strike block",
+    "Lift the hammer for nails and hit the block.",
+    "Grab the medium-sized metal hammer, then strike the block.",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Take the nail-driving hammer and hammer the block",
+    "Grab the silver hammer to beat the block.",
+    "Grab the grippy handle hammer using the left arm then pound block",
+    "Make the left arm grab the medium-sized metal hammer and strike the block.",
+    "Grab the nail-driving hammer, then hit the block",
+    "Use the medium-sized metal hammer to beat after grabbing with the left arm",
+    "Lift the plastic handle metal hammer using the left arm to hit the block.",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Grab the nail-driving hammer using the left arm, then beat the block",
+    "Beat the block after grabbing the hammer for nails",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "With the left arm, grab the yellow and black hammer grip and beat the block.",
+    "Take the medium-sized metal hammer and beat the block",
+    "Hold the silver hammer then hit the block",
+    "Use the handheld medium claw hammer to hammer the block.",
+    "Employ the left arm to grab the hammer with claw-shaped end and hit.",
+    "Grab the grippy handle hammer with the left arm and beat the block.",
+    "Grab the yellow and black hammer grip with the left arm and hit block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "With the left arm, grab the medium-sized metal hammer and hit the block",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "Grab the yellow and black hammer grip with the left arm and hit the block",
+    "Use the left arm to grab the hammer for nails and beat",
+    "Pick up the hammer for nails using the left arm, hammer the block.",
+    "With the left arm, pick up the medium-sized metal hammer and strike the block.",
+    "Take the nail-driving hammer and beat the block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Pick the grippy handle hammer from the table and strike",
+    "Take the nail-driving hammer using the left arm, hit the block.",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Hold the silver curved hammer head and pound the block.",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "Use the left arm to grab the yellow and black hammer grip and beat block",
+    "With the left arm, grab the nail-driving hammer and hammer the block",
+    "Pick the handheld medium claw hammer with the left arm and hit the block",
+    "Grab the silver curved hammer head using the left arm and strike the block",
+    "Use the left arm to take the nail-driving hammer and strike",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Pick up the silver curved hammer head with the left arm, strike the block.",
+    "Grab the hammer for nails and use it to hit",
+    "Grab the black and yellow hammer grip with the left arm and strike block",
+    "Grab the hammer with two-tone handle using the left arm and hit the block",
+    "Pick up the hammer with claw-shaped end using the left arm then beat",
+    "Lift the grippy handle hammer with the left arm then strike block",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Grab the silver curved hammer head, then strike the block.",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Take the nail-driving hammer and hammer the block",
+    "Grab the grippy handle hammer to beat the block.",
+    "Grab the yellow and black hammer grip using the left arm then pound block",
+    "Make the left arm grab the nail-driving hammer and strike the block.",
+    "Grab the grippy handle hammer, then hit the block",
+    "Use the yellow and black hammer grip to beat after grabbing with the left arm",
+    "Lift the nail-driving hammer using the left arm to hit the block.",
+    "Lift the silver hammer and hit the block",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Grab the nail-driving hammer using the left arm, then beat the block",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "With the left arm, grab the plastic handle metal hammer and beat the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "Hold the hammer for nails then hit the block",
+    "Use the silver curved hammer head to hammer the block.",
+    "Employ the left arm to grab the grippy handle hammer and hit.",
+    "Grab the silver curved hammer head with the left arm and beat the block.",
+    "Grab the yellow and black hammer grip with the left arm and hit block",
+    "Take the grippy handle hammer and strike the block",
+    "Pick the hammer for nails and strike the block.",
+    "With the left arm, grab the hammer with two-tone handle and hit the block",
+    "Utilize the left arm to hold the hammer for nails and strike.",
+    "Grab the hammer with claw-shaped end with the left arm and hit the block",
+    "Use the left arm to grab the plastic handle metal hammer and beat",
+    "Pick up the silver curved hammer head using the left arm, hammer the block.",
+    "With the left arm, pick up the black and yellow hammer grip and strike the block.",
+    "Take the hammer for nails and beat the block",
+    "Take the silver curved hammer head and strike the block",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Take the silver hammer using the left arm, hit the block.",
+    "Grip the hammer for nails firmly and hit the block.",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Use the left arm to grab the black and yellow hammer grip and beat block",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "Pick the hammer for nails with the left arm and hit the block",
+    "Grab the hammer with claw-shaped end using the left arm and strike the block",
+    "Use the left arm to take the silver hammer and strike",
+    "Lift the silver hammer, then beat the block.",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Pick up the medium-sized metal hammer with the left arm, strike the block."
+  ],
+  "unseen": [
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10007167.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the hammer with two-tone handle using the right arm to hit the block.",
+    "Employ the right arm to grab the nail-driving hammer and hit.",
+    "Hold the silver hammer then hit the block",
+    "Lift the black and yellow hammer grip with the right arm then strike block",
+    "Hold the hammer with claw-shaped end and pound the block.",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Pick the hammer with claw-shaped end with the right arm and hit the block",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Use the right arm to grab the nail-driving hammer and beat",
+    "Grab the grippy handle hammer using the right arm then pound block",
+    "Make the right arm grab the yellow and black hammer grip and strike the block.",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Use the nail-driving hammer to beat after grabbing with the right arm",
+    "Grab the medium-sized metal hammer using the right arm and strike the block",
+    "Utilize the right arm to hold the hammer with claw-shaped end and strike.",
+    "Grab the silver curved hammer head with the right arm and strike block",
+    "Grab the hammer with two-tone handle using the right arm and hit the block",
+    "Take the medium-sized metal hammer using the right arm, hit the block.",
+    "Use the right arm to take the hammer with two-tone handle and strike",
+    "Take the hammer with two-tone handle and strike the block",
+    "Pick up the silver curved hammer head using the right arm then beat",
+    "Lift the silver hammer, then beat the block.",
+    "With the right arm, pick up the silver curved hammer head and strike the block.",
+    "Pick up the silver hammer and use it on the block",
+    "With the right arm, grab the hammer with two-tone handle and beat the block.",
+    "Use the right arm to grab the grippy handle hammer and beat block",
+    "With the right arm, grab the grippy handle hammer and hit the block",
+    "Pick up the hammer for nails with the right arm, strike the block.",
+    "Pick up the handheld medium claw hammer using the right arm, hammer the block.",
+    "Grab the nail-driving hammer using the right arm, then beat the block",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Grab the hammer with two-tone handle with the right arm and hit block",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Grab the handheld medium claw hammer, then hit the block",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Take the nail-driving hammer and beat the block",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "Grab the hammer with two-tone handle with the right arm and hit the block",
+    "With the right arm, grab the hammer with two-tone handle and hammer the block",
+    "Grip the black and yellow hammer grip firmly and hit the block.",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Grab the hammer for nails and use it to hit",
+    "Grab the silver curved hammer head with the right arm and beat the block.",
+    "Lift the handheld medium claw hammer using the right arm to hit the block.",
+    "Employ the right arm to grab the hammer with two-tone handle and hit.",
+    "Hold the black and yellow hammer grip then hit the block",
+    "Lift the medium-sized metal hammer with the right arm then strike block",
+    "Hold the silver curved hammer head and pound the block.",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Pick the hammer for nails with the right arm and hit the block",
+    "Lift the silver hammer and hit the block.",
+    "Pick the silver curved hammer head and strike the block.",
+    "Use the right arm to grab the black and yellow hammer grip and beat",
+    "Grab the silver curved hammer head using the right arm then pound block",
+    "Make the right arm grab the grippy handle hammer and strike the block.",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Use the yellow and black hammer grip to beat after grabbing with the right arm",
+    "Grab the hammer for nails using the right arm and strike the block",
+    "Utilize the right arm to hold the grippy handle hammer and strike.",
+    "Grab the handheld medium claw hammer with the right arm and strike block",
+    "Grab the yellow and black hammer grip using the right arm and hit the block",
+    "Take the hammer with claw-shaped end using the right arm, hit the block.",
+    "Use the right arm to take the yellow and black hammer grip and strike",
+    "Take the hammer with two-tone handle and strike the block",
+    "Pick up the nail-driving hammer using the right arm then beat",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "With the right arm, pick up the nail-driving hammer and strike the block.",
+    "Pick up the hammer with two-tone handle and use it on the block",
+    "With the right arm, grab the black and yellow hammer grip and beat the block.",
+    "Use the right arm to grab the nail-driving hammer and beat block",
+    "With the right arm, grab the hammer with claw-shaped end and hit the block",
+    "Pick up the plastic handle metal hammer with the right arm, strike the block.",
+    "Pick up the hammer with two-tone handle using the right arm, hammer the block.",
+    "Grab the silver curved hammer head using the right arm, then beat the block",
+    "Catch the hammer for nails and use it on the block.",
+    "Grab the plastic handle metal hammer with the right arm and hit block",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Take the grippy handle hammer and hammer the block",
+    "Use the nail-driving hammer to hammer the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "Beat the block after grabbing the hammer for nails",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Take the yellow and black hammer grip and beat the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Grab the silver hammer with the right arm and hit the block",
+    "With the right arm, grab the silver hammer and hammer the block",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Grab the grippy handle hammer to beat the block.",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Grab the silver curved hammer head with the right arm and beat the block."
+  ],
+  "unseen": [
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and beat the block"
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10008156.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the nail-driving hammer with the left arm and beat the block.",
+    "With the left arm, grab the black and yellow hammer grip and beat the block.",
+    "With the left arm, pick up the plastic handle metal hammer and strike the block.",
+    "Hold the grippy handle hammer and pound the block.",
+    "Pick up the plastic handle metal hammer with the left arm, strike the block.",
+    "Hold the hammer with two-tone handle then hit the block",
+    "Lift the silver curved hammer head with the left arm then strike block",
+    "Use the left arm to take the handheld medium claw hammer and strike",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Pick the nail-driving hammer and smash the block",
+    "Pick up the yellow and black hammer grip and use it on the block",
+    "Grab the silver hammer, then strike the block.",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Grab the nail-driving hammer, then hit the block",
+    "Pick the silver hammer with the left arm and hit the block",
+    "With the left arm, grab the silver hammer and hit the block",
+    "Use the left arm to grab the medium-sized metal hammer and beat",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Take the yellow and black hammer grip and beat the block",
+    "Grab the silver hammer using the left arm and hit the block",
+    "Pick the grippy handle hammer from the table and strike",
+    "Make the left arm grab the black and yellow hammer grip and strike the block.",
+    "Grab the hammer with two-tone handle using the left arm and strike the block",
+    "Grab the black and yellow hammer grip with the left arm and strike block",
+    "Lift the silver curved hammer head and hit the block",
+    "Grab the yellow and black hammer grip using the left arm then pound block",
+    "With the left arm, grab the hammer with two-tone handle and hammer the block",
+    "Take the hammer for nails and strike the block",
+    "Pick up the yellow and black hammer grip using the left arm then beat",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Grab the silver hammer with the left arm and hit block",
+    "Use the left arm to grab the yellow and black hammer grip and beat block",
+    "Use the grippy handle hammer to beat after grabbing with the left arm",
+    "Grab the silver curved hammer head and use it to hit",
+    "Grab the hammer with claw-shaped end with the left arm and hit the block",
+    "Take the hammer for nails and beat the block",
+    "Take the hammer for nails and smash the block.",
+    "Pick up the grippy handle hammer using the left arm, hammer the block.",
+    "Pick up the silver curved hammer head and strike the block",
+    "Pick the silver curved hammer head and strike the block.",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Beat the block after grabbing the silver hammer",
+    "Lift the silver hammer and hit the block.",
+    "Take the hammer with claw-shaped end using the left arm, hit the block.",
+    "Lift the plastic handle metal hammer using the left arm to hit the block.",
+    "Utilize the left arm to hold the plastic handle metal hammer and strike.",
+    "Grab the grippy handle hammer using the left arm, then beat the block",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Grab the hammer for nails with the left arm and beat the block.",
+    "With the left arm, grab the grippy handle hammer and beat the block.",
+    "With the left arm, pick up the hammer for nails and strike the block.",
+    "Hold the medium-sized metal hammer and pound the block.",
+    "Pick up the black and yellow hammer grip with the left arm, strike the block.",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Lift the handheld medium claw hammer with the left arm then strike block",
+    "Use the left arm to take the hammer with claw-shaped end and strike",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Pick the nail-driving hammer and smash the block",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Grab the hammer for nails, then strike the block.",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Grab the silver hammer, then hit the block",
+    "Pick the hammer with two-tone handle with the left arm and hit the block",
+    "With the left arm, grab the handheld medium claw hammer and hit the block",
+    "Use the left arm to grab the grippy handle hammer and beat",
+    "Lift the grippy handle hammer, then beat the block.",
+    "Take the medium-sized metal hammer and beat the block",
+    "Grab the black and yellow hammer grip using the left arm and hit the block",
+    "Pick the silver curved hammer head from the table and strike",
+    "Make the left arm grab the hammer with two-tone handle and strike the block.",
+    "Grab the nail-driving hammer using the left arm and strike the block",
+    "Grab the nail-driving hammer with the left arm and strike block",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Grab the silver curved hammer head using the left arm then pound block",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Pick up the silver hammer using the left arm then beat",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Grab the hammer with claw-shaped end with the left arm and hit block",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "Use the black and yellow hammer grip to beat after grabbing with the left arm",
+    "Grab the silver curved hammer head and use it to hit",
+    "Grab the black and yellow hammer grip with the left arm and hit the block",
+    "Take the grippy handle hammer and beat the block",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Pick up the grippy handle hammer using the left arm, hammer the block.",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Pick the black and yellow hammer grip and strike the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Employ the left arm to grab the black and yellow hammer grip and hit.",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Lift the silver curved hammer head and hit the block.",
+    "Take the yellow and black hammer grip using the left arm, hit the block.",
+    "Lift the yellow and black hammer grip using the left arm to hit the block.",
+    "Utilize the left arm to hold the black and yellow hammer grip and strike.",
+    "Grab the hammer for nails using the left arm, then beat the block",
+    "Catch the handheld medium claw hammer and use it on the block."
+  ],
+  "unseen": [
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001002.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Make the right arm interact with the simple hand bell with black stand's top center.",
+    "Tap the top center of the bell with black flat base.",
+    "Press the center top of the white bell.",
+    "Direct the right arm to click the top of the simple hand bell with black stand.",
+    "Click the designated center of the rounded bell with flat black part.",
+    "Pinpoint the bell with black flat base and click its top center.",
+    "Guide the right arm to click the plastic and metal bell's top center.",
+    "Ask the right arm to interact with the compact tabletop bell's top.",
+    "Direct the right arm to touch the white bell's top.",
+    "Press the small desk bell for tapping's top center with the right arm firmly.",
+    "Click using the right arm on the bell with black flat base's center.",
+    "Have the right arm click at the bell with metallic top and plastic base's top center.",
+    "Press down the top of the white and black colored bell using the right arm.",
+    "Press down the compact tabletop bell's top center gently.",
+    "Activate the compact tabletop bell by pressing its top center.",
+    "Use the right arm to touch the bell with black flat base's top center.",
+    "Tap the white bell's top center with the right arm.",
+    "Locate the compact tabletop bell and click its top center.",
+    "Press the specified top area of the compact tabletop bell.",
+    "Push the bell shaped like half-circle dome's <top center> on the table",
+    "Click the compact tabletop bell's <top center> using the right arm",
+    "Click the bell with metallic top and plastic base at its top center on table.",
+    "Use the right arm to press the bell shaped like half-circle dome's top section.",
+    "Press the top center of the white bell with black bottom on table.",
+    "Click the top center of the compact tabletop bell on table.",
+    "Push the center of the simple hand bell with black stand using the right arm.",
+    "Press the center of the white bell with black bottom using the right arm.",
+    "Click the rounded bell with flat black part's top center using the right arm.",
+    "Command the right arm to press the white bell's top.",
+    "Press the white bell with black bottom's top center on the table.",
+    "Tap the white and black colored bell's top center with the right arm.",
+    "Make the right arm interact with the small desk bell for tapping's top center.",
+    "Tap the top center of the white dome bell.",
+    "Press the center top of the white dome bell.",
+    "Direct the right arm to click the top of the bell shaped like half-circle dome.",
+    "Click the designated center of the white bell.",
+    "Pinpoint the white and black colored bell and click its top center.",
+    "Guide the right arm to click the bell shaped like half-circle dome's top center.",
+    "Ask the right arm to interact with the rounded bell with flat black part's top.",
+    "Direct the right arm to touch the bell with metallic top and plastic base's top.",
+    "Press the bell with metallic top and plastic base's top center with the right arm firmly.",
+    "Click using the right arm on the rounded bell with flat black part's center.",
+    "Have the right arm click at the plastic and metal bell's top center.",
+    "Press down the top of the white and black colored bell using the right arm.",
+    "Press down the plastic and metal bell's top center gently.",
+    "Activate the white bell with black bottom by pressing its top center.",
+    "Use the right arm to touch the simple hand bell with black stand's top center.",
+    "Tap the simple hand bell with black stand's top center with the right arm.",
+    "Locate the rounded bell with flat black part and click its top center.",
+    "Press the specified top area of the rounded bell with flat black part.",
+    "Push the compact tabletop bell's <top center> on the table",
+    "Click the white bell with black bottom's <top center> using the right arm",
+    "Click the white and black colored bell at its top center on table.",
+    "Use the right arm to press the compact tabletop bell's top section.",
+    "Press the top center of the simple hand bell with black stand on table.",
+    "Click the top center of the small desk bell for tapping on table.",
+    "Push the center of the white and black colored bell using the right arm.",
+    "Press the center of the compact tabletop bell using the right arm.",
+    "Click the rounded bell with flat black part's top center using the right arm.",
+    "Command the right arm to press the plastic and metal bell's top.",
+    "Press the bell shaped like half-circle dome's top center on the table.",
+    "Tap the bell with black flat base's top center with the right arm.",
+    "Make the right arm interact with the plastic and metal bell's top center.",
+    "Tap the top center of the white dome bell.",
+    "Press the center top of the rounded bell with flat black part.",
+    "Direct the right arm to click the top of the white bell with black bottom.",
+    "Click the designated center of the white and black colored bell.",
+    "Pinpoint the white and black colored bell and click its top center.",
+    "Guide the right arm to click the compact tabletop bell's top center.",
+    "Ask the right arm to interact with the white and black colored bell's top.",
+    "Direct the right arm to touch the bell with black flat base's top.",
+    "Press the simple hand bell with black stand's top center with the right arm firmly.",
+    "Click using the right arm on the bell with black flat base's center.",
+    "Have the right arm click at the bell with metallic top and plastic base's top center.",
+    "Press down the top of the white and black colored bell using the right arm.",
+    "Press down the bell with black flat base's top center gently.",
+    "Activate the bell with metallic top and plastic base by pressing its top center.",
+    "Use the right arm to touch the bell with metallic top and plastic base's top center.",
+    "Tap the compact tabletop bell's top center with the right arm.",
+    "Locate the white bell with black bottom and click its top center.",
+    "Press the specified top area of the simple hand bell with black stand.",
+    "Push the rounded bell with flat black part's <top center> on the table",
+    "Click the compact tabletop bell's <top center> using the right arm",
+    "Click the simple hand bell with black stand at its top center on table.",
+    "Use the right arm to press the simple hand bell with black stand's top section.",
+    "Press the top center of the white bell on table.",
+    "Click the top center of the small desk bell for tapping on table.",
+    "Push the center of the white dome bell using the right arm.",
+    "Press the center of the simple hand bell with black stand using the right arm.",
+    "Click the simple hand bell with black stand's top center using the right arm.",
+    "Command the right arm to press the bell with metallic top and plastic base's top.",
+    "Press the simple hand bell with black stand's top center on the table.",
+    "Tap the plastic and metal bell's top center with the right arm.",
+    "Make the right arm interact with the compact tabletop bell's top center.",
+    "Tap the top center of the plastic and metal bell.",
+    "Press the center top of the bell with black flat base.",
+    "Direct the right arm to click the top of the small desk bell for tapping.",
+    "Click the designated center of the white and black colored bell.",
+    "Pinpoint the simple hand bell with black stand and click its top center.",
+    "Guide the right arm to click the plastic and metal bell's top center."
+  ],
+  "unseen": [
+    "Find the medium-sized bell and click its top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the lightweight bell with smooth surface's top center on the table."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001003.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press down the top of the blue bell using the right arm.",
+    "Guide the right arm to click the bell with circular body's top center.",
+    "Press the center top of the brown-bottomed bell.",
+    "Press the center of the bell with circular body using the right arm.",
+    "Press down the compact bell with round base's top center gently.",
+    "Push the center of the flat-topped bell using the right arm.",
+    "Use the right arm to touch the round bell's top center.",
+    "Ask the right arm to interact with the smooth blue bell's top.",
+    "Click the top center of the round bell on table.",
+    "Press the round bell's top center on the table.",
+    "Press the specified top area of the metal bell with plastic parts.",
+    "Push the blue bell's <top center> on the table",
+    "Tap the top center of the compact bell with round base.",
+    "Activate the brown-bottomed bell by pressing its top center.",
+    "Click the blue dome-shaped bell's top center using the right arm.",
+    "Press the top center of the blue dome-shaped bell on table.",
+    "Locate the brown-bottomed bell and click its top center.",
+    "Make the right arm interact with the bell with brown base's top center.",
+    "Click the compact bell with round base at its top center on table.",
+    "Click the small blue and brown bell's <top center> using the right arm",
+    "Use the right arm to press the blue bell's top section.",
+    "Have the right arm click at the blue bell's top center.",
+    "Click using the right arm on the metal bell with plastic parts's center.",
+    "Press the brown-bottomed bell's top center with the right arm firmly.",
+    "Pinpoint the metal bell with plastic parts and click its top center.",
+    "Direct the right arm to touch the flat-topped bell's top.",
+    "Tap the bell with protruding knob's top center with the right arm.",
+    "Click the designated center of the blue dome-shaped bell.",
+    "Tap the metal bell with plastic parts's top center with the right arm.",
+    "Command the right arm to press the blue bell's top.",
+    "Direct the right arm to click the top of the smooth blue bell.",
+    "Press down the top of the compact bell with round base using the right arm.",
+    "Guide the right arm to click the round bell's top center.",
+    "Press the center top of the brown-bottomed bell.",
+    "Press the center of the compact bell with round base using the right arm.",
+    "Press down the blue dome-shaped bell's top center gently.",
+    "Push the center of the bell with circular body using the right arm.",
+    "Use the right arm to touch the smooth blue bell's top center.",
+    "Ask the right arm to interact with the round bell's top.",
+    "Click the top center of the bell with protruding knob on table.",
+    "Press the brown-bottomed bell's top center on the table.",
+    "Press the specified top area of the brown-bottomed bell.",
+    "Push the metal bell with plastic parts's <top center> on the table",
+    "Tap the top center of the bell with protruding knob.",
+    "Activate the small blue and brown bell by pressing its top center.",
+    "Click the bell with protruding knob's top center using the right arm.",
+    "Press the top center of the small blue and brown bell on table.",
+    "Locate the bell with protruding knob and click its top center.",
+    "Make the right arm interact with the brown-bottomed bell's top center.",
+    "Click the round bell at its top center on table.",
+    "Click the compact bell with round base's <top center> using the right arm",
+    "Use the right arm to press the bell with circular body's top section.",
+    "Have the right arm click at the brown-bottomed bell's top center.",
+    "Click using the right arm on the round bell's center.",
+    "Press the metal bell with plastic parts's top center with the right arm firmly.",
+    "Pinpoint the flat-topped bell and click its top center.",
+    "Direct the right arm to touch the blue bell's top.",
+    "Tap the compact bell with round base's top center with the right arm.",
+    "Click the designated center of the bell with brown base.",
+    "Tap the round bell's top center with the right arm.",
+    "Command the right arm to press the flat-topped bell's top.",
+    "Direct the right arm to click the top of the blue dome-shaped bell.",
+    "Press down the top of the smooth blue bell using the right arm.",
+    "Guide the right arm to click the blue bell's top center.",
+    "Press the center top of the blue bell.",
+    "Press the center of the flat-topped bell using the right arm.",
+    "Press down the bell with circular body's top center gently.",
+    "Push the center of the small blue and brown bell using the right arm.",
+    "Use the right arm to touch the flat-topped bell's top center.",
+    "Ask the right arm to interact with the smooth blue bell's top.",
+    "Click the top center of the small blue and brown bell on table.",
+    "Press the bell with brown base's top center on the table.",
+    "Press the specified top area of the blue bell.",
+    "Push the flat-topped bell's <top center> on the table",
+    "Tap the top center of the flat-topped bell.",
+    "Activate the round bell by pressing its top center.",
+    "Click the bell with protruding knob's top center using the right arm.",
+    "Press the top center of the blue dome-shaped bell on table.",
+    "Locate the blue dome-shaped bell and click its top center.",
+    "Make the right arm interact with the flat-topped bell's top center.",
+    "Click the flat-topped bell at its top center on table.",
+    "Click the compact bell with round base's <top center> using the right arm",
+    "Use the right arm to press the flat-topped bell's top section.",
+    "Have the right arm click at the brown-bottomed bell's top center.",
+    "Click using the right arm on the round bell's center.",
+    "Press the smooth blue bell's top center with the right arm firmly.",
+    "Pinpoint the flat-topped bell and click its top center.",
+    "Direct the right arm to touch the bell with brown base's top.",
+    "Tap the brown-bottomed bell's top center with the right arm.",
+    "Click the designated center of the bell with brown base.",
+    "Tap the round bell's top center with the right arm.",
+    "Command the right arm to press the blue dome-shaped bell's top.",
+    "Direct the right arm to click the top of the blue dome-shaped bell.",
+    "Press down the top of the blue dome-shaped bell using the right arm.",
+    "Guide the right arm to click the compact bell with round base's top center.",
+    "Press the center top of the bell with protruding knob.",
+    "Press the center of the blue dome-shaped bell using the right arm.",
+    "Press down the blue dome-shaped bell's top center gently.",
+    "Push the center of the small blue and brown bell using the right arm.",
+    "Use the right arm to touch the metal bell with plastic parts's top center."
+  ],
+  "unseen": [
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Click the top center of the palm-sized bell.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Click the top center of the palm-sized bell.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Click the top center of the palm-sized bell.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Click the top center of the bell with raised round top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Click the top center of the palm-sized bell.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the palm-sized bell's top center."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001007.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Tap the top center of the bell with circular body.",
+    "Push the brown-bottomed bell's <top center> on the table",
+    "Click the round bell's <top center> using the right arm",
+    "Activate the blue dome-shaped bell by pressing its top center.",
+    "Locate the compact bell with round base and click its top center.",
+    "Click the compact bell with round base at its top center on table.",
+    "Click the designated center of the bell with protruding knob.",
+    "Have the right arm click at the metal bell with plastic parts's top center.",
+    "Press the top center of the bell with protruding knob on table.",
+    "Tap the round bell's top center with the right arm.",
+    "Click the blue dome-shaped bell's top center using the right arm.",
+    "Command the right arm to press the round bell's top.",
+    "Press the center of the blue dome-shaped bell using the right arm.",
+    "Tap the blue bell's top center with the right arm.",
+    "Press the center top of the bell with protruding knob.",
+    "Press the specified top area of the brown-bottomed bell.",
+    "Press the bell with circular body's top center with the right arm firmly.",
+    "Ask the right arm to interact with the blue dome-shaped bell's top.",
+    "Press down the blue dome-shaped bell's top center gently.",
+    "Click the top center of the flat-topped bell on table.",
+    "Press down the top of the compact bell with round base using the right arm.",
+    "Direct the right arm to click the top of the round bell.",
+    "Make the right arm interact with the metal bell with plastic parts's top center.",
+    "Press the compact bell with round base's top center on the table.",
+    "Use the right arm to touch the metal bell with plastic parts's top center.",
+    "Pinpoint the bell with circular body and click its top center.",
+    "Click using the right arm on the metal bell with plastic parts's center.",
+    "Guide the right arm to click the round bell's top center.",
+    "Use the right arm to press the compact bell with round base's top section.",
+    "Push the center of the brown-bottomed bell using the right arm.",
+    "Direct the right arm to touch the round bell's top.",
+    "Tap the top center of the blue bell.",
+    "Push the blue bell's <top center> on the table",
+    "Click the brown-bottomed bell's <top center> using the right arm",
+    "Activate the round bell by pressing its top center.",
+    "Locate the round bell and click its top center.",
+    "Click the small blue and brown bell at its top center on table.",
+    "Click the designated center of the bell with brown base.",
+    "Have the right arm click at the brown-bottomed bell's top center.",
+    "Press the top center of the compact bell with round base on table.",
+    "Tap the brown-bottomed bell's top center with the right arm.",
+    "Click the blue bell's top center using the right arm.",
+    "Command the right arm to press the bell with protruding knob's top.",
+    "Press the center of the round bell using the right arm.",
+    "Tap the round bell's top center with the right arm.",
+    "Press the center top of the compact bell with round base.",
+    "Press the specified top area of the small blue and brown bell.",
+    "Press the bell with brown base's top center with the right arm firmly.",
+    "Ask the right arm to interact with the brown-bottomed bell's top.",
+    "Press down the brown-bottomed bell's top center gently.",
+    "Click the top center of the bell with circular body on table.",
+    "Press down the top of the flat-topped bell using the right arm.",
+    "Direct the right arm to click the top of the smooth blue bell.",
+    "Make the right arm interact with the compact bell with round base's top center.",
+    "Press the bell with protruding knob's top center on the table.",
+    "Use the right arm to touch the bell with brown base's top center.",
+    "Pinpoint the bell with brown base and click its top center.",
+    "Click using the right arm on the small blue and brown bell's center.",
+    "Guide the right arm to click the bell with brown base's top center.",
+    "Use the right arm to press the bell with circular body's top section.",
+    "Push the center of the small blue and brown bell using the right arm.",
+    "Direct the right arm to touch the smooth blue bell's top.",
+    "Tap the top center of the metal bell with plastic parts.",
+    "Push the compact bell with round base's <top center> on the table",
+    "Click the compact bell with round base's <top center> using the right arm",
+    "Activate the brown-bottomed bell by pressing its top center.",
+    "Locate the small blue and brown bell and click its top center.",
+    "Click the brown-bottomed bell at its top center on table.",
+    "Click the designated center of the flat-topped bell.",
+    "Have the right arm click at the bell with circular body's top center.",
+    "Press the top center of the small blue and brown bell on table.",
+    "Tap the round bell's top center with the right arm.",
+    "Click the bell with protruding knob's top center using the right arm.",
+    "Command the right arm to press the metal bell with plastic parts's top.",
+    "Press the center of the compact bell with round base using the right arm.",
+    "Tap the bell with protruding knob's top center with the right arm.",
+    "Press the center top of the blue dome-shaped bell.",
+    "Press the specified top area of the blue dome-shaped bell.",
+    "Press the round bell's top center with the right arm firmly.",
+    "Ask the right arm to interact with the blue dome-shaped bell's top.",
+    "Press down the smooth blue bell's top center gently.",
+    "Click the top center of the small blue and brown bell on table.",
+    "Press down the top of the bell with brown base using the right arm.",
+    "Direct the right arm to click the top of the round bell.",
+    "Make the right arm interact with the round bell's top center.",
+    "Press the bell with protruding knob's top center on the table.",
+    "Use the right arm to touch the brown-bottomed bell's top center.",
+    "Pinpoint the small blue and brown bell and click its top center.",
+    "Click using the right arm on the brown-bottomed bell's center.",
+    "Guide the right arm to click the compact bell with round base's top center.",
+    "Use the right arm to press the bell with circular body's top section.",
+    "Push the center of the flat-topped bell using the right arm.",
+    "Direct the right arm to touch the small blue and brown bell's top.",
+    "Tap the top center of the metal bell with plastic parts.",
+    "Push the small blue and brown bell's <top center> on the table",
+    "Click the small blue and brown bell's <top center> using the right arm",
+    "Activate the smooth blue bell by pressing its top center.",
+    "Locate the round bell and click its top center.",
+    "Click the small blue and brown bell at its top center on table.",
+    "Click the designated center of the blue dome-shaped bell."
+  ],
+  "unseen": [
+    "Click the bell with raised round top's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Find the palm-sized bell and click its top center."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001010.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the specified top area of the plastic and metal bell.",
+    "Click the white bell's <top center> using the right arm",
+    "Press the top center of the bell shaped like half-circle dome on table.",
+    "Click the designated center of the bell with metallic top and plastic base.",
+    "Use the right arm to press the white and black colored bell's top section.",
+    "Command the right arm to press the white and black colored bell's top.",
+    "Tap the rounded bell with flat black part's top center with the right arm.",
+    "Tap the top center of the bell with black flat base.",
+    "Press the center of the small desk bell for tapping using the right arm.",
+    "Click using the right arm on the white dome bell's center.",
+    "Click the white and black colored bell at its top center on table.",
+    "Press down the top of the white and black colored bell using the right arm.",
+    "Press down the white bell with black bottom's top center gently.",
+    "Click the top center of the white bell with black bottom on table.",
+    "Push the center of the compact tabletop bell using the right arm.",
+    "Direct the right arm to click the top of the compact tabletop bell.",
+    "Click the white and black colored bell's top center using the right arm.",
+    "Press the center top of the rounded bell with flat black part.",
+    "Guide the right arm to click the white dome bell's top center.",
+    "Use the right arm to touch the white dome bell's top center.",
+    "Direct the right arm to touch the white bell's top.",
+    "Make the right arm interact with the bell with metallic top and plastic base's top center.",
+    "Press the bell shaped like half-circle dome's top center with the right arm firmly.",
+    "Have the right arm click at the small desk bell for tapping's top center.",
+    "Press the plastic and metal bell's top center on the table.",
+    "Activate the white bell with black bottom by pressing its top center.",
+    "Ask the right arm to interact with the white and black colored bell's top.",
+    "Pinpoint the compact tabletop bell and click its top center.",
+    "Locate the compact tabletop bell and click its top center.",
+    "Push the small desk bell for tapping's <top center> on the table",
+    "Tap the plastic and metal bell's top center with the right arm.",
+    "Press the specified top area of the white dome bell.",
+    "Click the compact tabletop bell's <top center> using the right arm",
+    "Press the top center of the white dome bell on table.",
+    "Click the designated center of the white and black colored bell.",
+    "Use the right arm to press the white and black colored bell's top section.",
+    "Command the right arm to press the bell with metallic top and plastic base's top.",
+    "Tap the white dome bell's top center with the right arm.",
+    "Tap the top center of the plastic and metal bell.",
+    "Press the center of the plastic and metal bell using the right arm.",
+    "Click using the right arm on the bell with black flat base's center.",
+    "Click the white and black colored bell at its top center on table.",
+    "Press down the top of the white bell with black bottom using the right arm.",
+    "Press down the white dome bell's top center gently.",
+    "Click the top center of the simple hand bell with black stand on table.",
+    "Push the center of the bell with metallic top and plastic base using the right arm.",
+    "Direct the right arm to click the top of the rounded bell with flat black part.",
+    "Click the white and black colored bell's top center using the right arm.",
+    "Press the center top of the bell shaped like half-circle dome.",
+    "Guide the right arm to click the white bell with black bottom's top center.",
+    "Use the right arm to touch the simple hand bell with black stand's top center.",
+    "Direct the right arm to touch the white dome bell's top.",
+    "Make the right arm interact with the white and black colored bell's top center.",
+    "Press the white bell with black bottom's top center with the right arm firmly.",
+    "Have the right arm click at the white bell's top center.",
+    "Press the rounded bell with flat black part's top center on the table.",
+    "Activate the white bell by pressing its top center.",
+    "Ask the right arm to interact with the bell with black flat base's top.",
+    "Pinpoint the white bell with black bottom and click its top center.",
+    "Locate the small desk bell for tapping and click its top center.",
+    "Push the white dome bell's <top center> on the table",
+    "Tap the plastic and metal bell's top center with the right arm.",
+    "Press the specified top area of the bell with black flat base.",
+    "Click the compact tabletop bell's <top center> using the right arm",
+    "Press the top center of the bell with metallic top and plastic base on table.",
+    "Click the designated center of the compact tabletop bell.",
+    "Use the right arm to press the compact tabletop bell's top section.",
+    "Command the right arm to press the bell with metallic top and plastic base's top.",
+    "Tap the bell with metallic top and plastic base's top center with the right arm.",
+    "Tap the top center of the rounded bell with flat black part.",
+    "Press the center of the white bell with black bottom using the right arm.",
+    "Click using the right arm on the rounded bell with flat black part's center.",
+    "Click the white bell with black bottom at its top center on table.",
+    "Press down the top of the white bell using the right arm.",
+    "Press down the plastic and metal bell's top center gently.",
+    "Click the top center of the white and black colored bell on table.",
+    "Push the center of the small desk bell for tapping using the right arm.",
+    "Direct the right arm to click the top of the small desk bell for tapping.",
+    "Click the white bell's top center using the right arm.",
+    "Press the center top of the bell with black flat base.",
+    "Guide the right arm to click the simple hand bell with black stand's top center.",
+    "Use the right arm to touch the white bell's top center.",
+    "Direct the right arm to touch the bell with black flat base's top.",
+    "Make the right arm interact with the white and black colored bell's top center.",
+    "Press the plastic and metal bell's top center with the right arm firmly.",
+    "Have the right arm click at the plastic and metal bell's top center.",
+    "Press the white bell's top center on the table.",
+    "Activate the bell with metallic top and plastic base by pressing its top center.",
+    "Ask the right arm to interact with the white bell with black bottom's top.",
+    "Pinpoint the bell with black flat base and click its top center.",
+    "Locate the rounded bell with flat black part and click its top center.",
+    "Push the bell with black flat base's <top center> on the table",
+    "Tap the compact tabletop bell's top center with the right arm.",
+    "Press the specified top area of the rounded bell with flat black part.",
+    "Click the white and black colored bell's <top center> using the right arm",
+    "Press the top center of the bell shaped like half-circle dome on table.",
+    "Click the designated center of the bell with metallic top and plastic base.",
+    "Use the right arm to press the white and black colored bell's top section.",
+    "Command the right arm to press the bell shaped like half-circle dome's top.",
+    "Tap the simple hand bell with black stand's top center with the right arm."
+  ],
+  "unseen": [
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the medium-sized bell's top center."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001023.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the center of the bell with protruding knob using the left arm.",
+    "Press the blue dome-shaped bell's top center on the table.",
+    "Click the blue bell at its top center on table.",
+    "Command the left arm to press the small blue and brown bell's top.",
+    "Locate the flat-topped bell and click its top center.",
+    "Press the top center of the smooth blue bell on table.",
+    "Make the left arm interact with the smooth blue bell's top center.",
+    "Press the center top of the blue dome-shaped bell.",
+    "Have the left arm click at the small blue and brown bell's top center.",
+    "Click the round bell's top center using the left arm.",
+    "Direct the left arm to click the top of the metal bell with plastic parts.",
+    "Tap the top center of the smooth blue bell.",
+    "Direct the left arm to touch the brown-bottomed bell's top.",
+    "Push the bell with circular body's <top center> on the table",
+    "Press down the round bell's top center gently.",
+    "Use the left arm to press the bell with brown base's top section.",
+    "Click using the left arm on the bell with circular body's center.",
+    "Press the bell with protruding knob's top center with the left arm firmly.",
+    "Activate the compact bell with round base by pressing its top center.",
+    "Ask the left arm to interact with the bell with circular body's top.",
+    "Tap the bell with circular body's top center with the left arm.",
+    "Click the designated center of the compact bell with round base.",
+    "Click the smooth blue bell's <top center> using the left arm",
+    "Use the left arm to touch the bell with brown base's top center.",
+    "Click the top center of the bell with circular body on table.",
+    "Press down the top of the smooth blue bell using the left arm.",
+    "Press the specified top area of the bell with circular body.",
+    "Guide the left arm to click the compact bell with round base's top center.",
+    "Press the center of the bell with brown base using the left arm.",
+    "Pinpoint the bell with circular body and click its top center.",
+    "Tap the small blue and brown bell's top center with the left arm.",
+    "Push the center of the blue bell using the left arm.",
+    "Press the blue bell's top center on the table.",
+    "Click the compact bell with round base at its top center on table.",
+    "Command the left arm to press the brown-bottomed bell's top.",
+    "Locate the bell with protruding knob and click its top center.",
+    "Press the top center of the brown-bottomed bell on table.",
+    "Make the left arm interact with the brown-bottomed bell's top center.",
+    "Press the center top of the metal bell with plastic parts.",
+    "Have the left arm click at the smooth blue bell's top center.",
+    "Click the bell with protruding knob's top center using the left arm.",
+    "Direct the left arm to click the top of the round bell.",
+    "Tap the top center of the bell with protruding knob.",
+    "Direct the left arm to touch the compact bell with round base's top.",
+    "Push the round bell's <top center> on the table",
+    "Press down the small blue and brown bell's top center gently.",
+    "Use the left arm to press the smooth blue bell's top section.",
+    "Click using the left arm on the brown-bottomed bell's center.",
+    "Press the round bell's top center with the left arm firmly.",
+    "Activate the round bell by pressing its top center.",
+    "Ask the left arm to interact with the brown-bottomed bell's top.",
+    "Tap the flat-topped bell's top center with the left arm.",
+    "Click the designated center of the blue dome-shaped bell.",
+    "Click the blue bell's <top center> using the left arm",
+    "Use the left arm to touch the bell with brown base's top center.",
+    "Click the top center of the brown-bottomed bell on table.",
+    "Press down the top of the small blue and brown bell using the left arm.",
+    "Press the specified top area of the compact bell with round base.",
+    "Guide the left arm to click the flat-topped bell's top center.",
+    "Press the center of the bell with brown base using the left arm.",
+    "Pinpoint the blue dome-shaped bell and click its top center.",
+    "Tap the compact bell with round base's top center with the left arm.",
+    "Push the center of the bell with circular body using the left arm.",
+    "Press the metal bell with plastic parts's top center on the table.",
+    "Click the smooth blue bell at its top center on table.",
+    "Command the left arm to press the bell with circular body's top.",
+    "Locate the compact bell with round base and click its top center.",
+    "Press the top center of the compact bell with round base on table.",
+    "Make the left arm interact with the round bell's top center.",
+    "Press the center top of the metal bell with plastic parts.",
+    "Have the left arm click at the bell with protruding knob's top center.",
+    "Click the blue bell's top center using the left arm.",
+    "Direct the left arm to click the top of the brown-bottomed bell.",
+    "Tap the top center of the bell with protruding knob.",
+    "Direct the left arm to touch the flat-topped bell's top.",
+    "Push the compact bell with round base's <top center> on the table",
+    "Press down the bell with protruding knob's top center gently.",
+    "Use the left arm to press the metal bell with plastic parts's top section.",
+    "Click using the left arm on the bell with protruding knob's center.",
+    "Press the smooth blue bell's top center with the left arm firmly.",
+    "Activate the compact bell with round base by pressing its top center.",
+    "Ask the left arm to interact with the round bell's top.",
+    "Tap the round bell's top center with the left arm.",
+    "Click the designated center of the metal bell with plastic parts.",
+    "Click the smooth blue bell's <top center> using the left arm",
+    "Use the left arm to touch the bell with brown base's top center.",
+    "Click the top center of the round bell on table.",
+    "Press down the top of the flat-topped bell using the left arm.",
+    "Press the specified top area of the metal bell with plastic parts.",
+    "Guide the left arm to click the bell with circular body's top center.",
+    "Press the center of the blue bell using the left arm.",
+    "Pinpoint the metal bell with plastic parts and click its top center.",
+    "Tap the bell with circular body's top center with the left arm.",
+    "Push the center of the flat-topped bell using the left arm.",
+    "Press the bell with circular body's top center on the table.",
+    "Click the blue dome-shaped bell at its top center on table.",
+    "Command the left arm to press the small blue and brown bell's top.",
+    "Locate the blue bell and click its top center.",
+    "Press the top center of the bell with protruding knob on table.",
+    "Make the left arm interact with the round bell's top center."
+  ],
+  "unseen": [
+    "Find the palm-sized bell and click its top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the left arm to click the bell with raised round top's top."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001029.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Locate the bell with protruding knob and click its top center.",
+    "Press the top center of the smooth blue bell on table.",
+    "Press the round bell's top center on the table.",
+    "Press the metal bell with plastic parts's top center with the left arm firmly.",
+    "Tap the blue dome-shaped bell's top center with the left arm.",
+    "Direct the left arm to touch the brown-bottomed bell's top.",
+    "Press the center top of the bell with protruding knob.",
+    "Direct the left arm to click the top of the compact bell with round base.",
+    "Make the left arm interact with the smooth blue bell's top center.",
+    "Tap the top center of the round bell.",
+    "Click the brown-bottomed bell at its top center on table.",
+    "Click the top center of the blue dome-shaped bell on table.",
+    "Push the center of the compact bell with round base using the left arm.",
+    "Click the designated center of the compact bell with round base.",
+    "Click using the left arm on the blue dome-shaped bell's center.",
+    "Guide the left arm to click the bell with circular body's top center.",
+    "Command the left arm to press the smooth blue bell's top.",
+    "Ask the left arm to interact with the brown-bottomed bell's top.",
+    "Press the center of the small blue and brown bell using the left arm.",
+    "Click the bell with protruding knob's top center using the left arm.",
+    "Have the left arm click at the flat-topped bell's top center.",
+    "Pinpoint the brown-bottomed bell and click its top center.",
+    "Click the bell with protruding knob's <top center> using the left arm",
+    "Tap the brown-bottomed bell's top center with the left arm.",
+    "Use the left arm to press the blue bell's top section.",
+    "Use the left arm to touch the blue bell's top center.",
+    "Press down the blue bell's top center gently.",
+    "Press down the top of the blue dome-shaped bell using the left arm.",
+    "Press the specified top area of the bell with protruding knob.",
+    "Push the small blue and brown bell's <top center> on the table",
+    "Activate the bell with protruding knob by pressing its top center.",
+    "Locate the brown-bottomed bell and click its top center.",
+    "Press the top center of the small blue and brown bell on table.",
+    "Press the bell with protruding knob's top center on the table.",
+    "Press the bell with circular body's top center with the left arm firmly.",
+    "Tap the metal bell with plastic parts's top center with the left arm.",
+    "Direct the left arm to touch the bell with protruding knob's top.",
+    "Press the center top of the flat-topped bell.",
+    "Direct the left arm to click the top of the blue dome-shaped bell.",
+    "Make the left arm interact with the blue bell's top center.",
+    "Tap the top center of the brown-bottomed bell.",
+    "Click the blue bell at its top center on table.",
+    "Click the top center of the compact bell with round base on table.",
+    "Push the center of the brown-bottomed bell using the left arm.",
+    "Click the designated center of the blue bell.",
+    "Click using the left arm on the bell with protruding knob's center.",
+    "Guide the left arm to click the metal bell with plastic parts's top center.",
+    "Command the left arm to press the blue bell's top.",
+    "Ask the left arm to interact with the metal bell with plastic parts's top.",
+    "Press the center of the blue dome-shaped bell using the left arm.",
+    "Click the blue bell's top center using the left arm.",
+    "Have the left arm click at the round bell's top center.",
+    "Pinpoint the bell with brown base and click its top center.",
+    "Click the small blue and brown bell's <top center> using the left arm",
+    "Tap the flat-topped bell's top center with the left arm.",
+    "Use the left arm to press the metal bell with plastic parts's top section.",
+    "Use the left arm to touch the round bell's top center.",
+    "Press down the metal bell with plastic parts's top center gently.",
+    "Press down the top of the blue dome-shaped bell using the left arm.",
+    "Press the specified top area of the brown-bottomed bell.",
+    "Push the bell with circular body's <top center> on the table",
+    "Activate the compact bell with round base by pressing its top center.",
+    "Locate the compact bell with round base and click its top center.",
+    "Press the top center of the flat-topped bell on table.",
+    "Press the bell with protruding knob's top center on the table.",
+    "Press the round bell's top center with the left arm firmly.",
+    "Tap the brown-bottomed bell's top center with the left arm.",
+    "Direct the left arm to touch the blue bell's top.",
+    "Press the center top of the bell with brown base.",
+    "Direct the left arm to click the top of the metal bell with plastic parts.",
+    "Make the left arm interact with the bell with brown base's top center.",
+    "Tap the top center of the bell with circular body.",
+    "Click the blue dome-shaped bell at its top center on table.",
+    "Click the top center of the flat-topped bell on table.",
+    "Push the center of the blue dome-shaped bell using the left arm.",
+    "Click the designated center of the blue bell.",
+    "Click using the left arm on the compact bell with round base's center.",
+    "Guide the left arm to click the bell with brown base's top center.",
+    "Command the left arm to press the smooth blue bell's top.",
+    "Ask the left arm to interact with the bell with brown base's top.",
+    "Press the center of the metal bell with plastic parts using the left arm.",
+    "Click the bell with brown base's top center using the left arm.",
+    "Have the left arm click at the small blue and brown bell's top center.",
+    "Pinpoint the brown-bottomed bell and click its top center.",
+    "Click the bell with brown base's <top center> using the left arm",
+    "Tap the smooth blue bell's top center with the left arm.",
+    "Use the left arm to press the bell with brown base's top section.",
+    "Use the left arm to touch the bell with circular body's top center.",
+    "Press down the round bell's top center gently.",
+    "Press down the top of the blue bell using the left arm.",
+    "Press the specified top area of the metal bell with plastic parts.",
+    "Push the brown-bottomed bell's <top center> on the table",
+    "Activate the small blue and brown bell by pressing its top center.",
+    "Locate the compact bell with round base and click its top center.",
+    "Press the top center of the bell with protruding knob on table.",
+    "Press the blue bell's top center on the table.",
+    "Press the brown-bottomed bell's top center with the left arm firmly.",
+    "Tap the bell with circular body's top center with the left arm.",
+    "Direct the left arm to touch the bell with protruding knob's top.",
+    "Press the center top of the blue dome-shaped bell."
+  ],
+  "unseen": [
+    "Click the palm-sized bell's top center on the table.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Click the top center of the palm-sized bell."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001039.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Tap the blue bell's top center with the left arm.",
+    "Tap the top center of the blue bell.",
+    "Use the left arm to touch the small blue and brown bell's top center.",
+    "Push the center of the flat-topped bell using the left arm.",
+    "Use the left arm to press the flat-topped bell's top section.",
+    "Press the specified top area of the bell with protruding knob.",
+    "Click the bell with circular body's <top center> using the left arm",
+    "Press down the bell with protruding knob's top center gently.",
+    "Command the left arm to press the brown-bottomed bell's top.",
+    "Press the flat-topped bell's top center with the left arm firmly.",
+    "Ask the left arm to interact with the bell with protruding knob's top.",
+    "Direct the left arm to touch the round bell's top.",
+    "Click the designated center of the small blue and brown bell.",
+    "Locate the blue dome-shaped bell and click its top center.",
+    "Press down the top of the round bell using the left arm.",
+    "Click using the left arm on the flat-topped bell's center.",
+    "Click the smooth blue bell at its top center on table.",
+    "Click the top center of the metal bell with plastic parts on table.",
+    "Press the round bell's top center on the table.",
+    "Direct the left arm to click the top of the bell with protruding knob.",
+    "Press the center of the compact bell with round base using the left arm.",
+    "Guide the left arm to click the small blue and brown bell's top center.",
+    "Make the left arm interact with the metal bell with plastic parts's top center.",
+    "Activate the bell with brown base by pressing its top center.",
+    "Push the small blue and brown bell's <top center> on the table",
+    "Have the left arm click at the bell with protruding knob's top center.",
+    "Click the blue dome-shaped bell's top center using the left arm.",
+    "Tap the brown-bottomed bell's top center with the left arm.",
+    "Pinpoint the bell with brown base and click its top center.",
+    "Press the center top of the smooth blue bell.",
+    "Press the top center of the bell with circular body on table.",
+    "Tap the metal bell with plastic parts's top center with the left arm.",
+    "Tap the top center of the smooth blue bell.",
+    "Use the left arm to touch the small blue and brown bell's top center.",
+    "Push the center of the flat-topped bell using the left arm.",
+    "Use the left arm to press the bell with protruding knob's top section.",
+    "Press the specified top area of the smooth blue bell.",
+    "Click the small blue and brown bell's <top center> using the left arm",
+    "Press down the bell with protruding knob's top center gently.",
+    "Command the left arm to press the blue dome-shaped bell's top.",
+    "Press the bell with protruding knob's top center with the left arm firmly.",
+    "Ask the left arm to interact with the metal bell with plastic parts's top.",
+    "Direct the left arm to touch the bell with protruding knob's top.",
+    "Click the designated center of the metal bell with plastic parts.",
+    "Locate the flat-topped bell and click its top center.",
+    "Press down the top of the metal bell with plastic parts using the left arm.",
+    "Click using the left arm on the flat-topped bell's center.",
+    "Click the metal bell with plastic parts at its top center on table.",
+    "Click the top center of the flat-topped bell on table.",
+    "Press the brown-bottomed bell's top center on the table.",
+    "Direct the left arm to click the top of the blue bell.",
+    "Press the center of the round bell using the left arm.",
+    "Guide the left arm to click the bell with brown base's top center.",
+    "Make the left arm interact with the flat-topped bell's top center.",
+    "Activate the smooth blue bell by pressing its top center.",
+    "Push the bell with circular body's <top center> on the table",
+    "Have the left arm click at the blue dome-shaped bell's top center.",
+    "Click the blue dome-shaped bell's top center using the left arm.",
+    "Tap the blue dome-shaped bell's top center with the left arm.",
+    "Pinpoint the compact bell with round base and click its top center.",
+    "Press the center top of the bell with circular body.",
+    "Press the top center of the smooth blue bell on table.",
+    "Tap the blue dome-shaped bell's top center with the left arm.",
+    "Tap the top center of the compact bell with round base.",
+    "Use the left arm to touch the round bell's top center.",
+    "Push the center of the flat-topped bell using the left arm.",
+    "Use the left arm to press the bell with circular body's top section.",
+    "Press the specified top area of the bell with protruding knob.",
+    "Click the metal bell with plastic parts's <top center> using the left arm",
+    "Press down the smooth blue bell's top center gently.",
+    "Command the left arm to press the bell with brown base's top.",
+    "Press the smooth blue bell's top center with the left arm firmly.",
+    "Ask the left arm to interact with the blue bell's top.",
+    "Direct the left arm to touch the bell with circular body's top.",
+    "Click the designated center of the metal bell with plastic parts.",
+    "Locate the bell with protruding knob and click its top center.",
+    "Press down the top of the smooth blue bell using the left arm.",
+    "Click using the left arm on the flat-topped bell's center.",
+    "Click the blue bell at its top center on table.",
+    "Click the top center of the compact bell with round base on table.",
+    "Press the metal bell with plastic parts's top center on the table.",
+    "Direct the left arm to click the top of the bell with protruding knob.",
+    "Press the center of the bell with protruding knob using the left arm.",
+    "Guide the left arm to click the round bell's top center.",
+    "Make the left arm interact with the small blue and brown bell's top center.",
+    "Activate the metal bell with plastic parts by pressing its top center.",
+    "Push the blue dome-shaped bell's <top center> on the table",
+    "Have the left arm click at the blue bell's top center.",
+    "Click the bell with circular body's top center using the left arm.",
+    "Tap the compact bell with round base's top center with the left arm.",
+    "Pinpoint the bell with circular body and click its top center.",
+    "Press the center top of the compact bell with round base.",
+    "Press the top center of the brown-bottomed bell on table.",
+    "Tap the blue bell's top center with the left arm.",
+    "Tap the top center of the brown-bottomed bell.",
+    "Use the left arm to touch the bell with protruding knob's top center.",
+    "Push the center of the blue dome-shaped bell using the left arm.",
+    "Use the left arm to press the blue dome-shaped bell's top section.",
+    "Press the specified top area of the compact bell with round base.",
+    "Click the compact bell with round base's <top center> using the left arm"
+  ],
+  "unseen": [
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Find the blue bell with glossy finish and click its top center."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001041.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Ask the right arm to interact with the plastic and metal bell's top.",
+    "Click the designated center of the white bell with black bottom.",
+    "Press the top center of the white bell with black bottom on table.",
+    "Make the right arm interact with the white and black colored bell's top center.",
+    "Click the small desk bell for tapping's top center using the right arm.",
+    "Tap the white dome bell's top center with the right arm.",
+    "Guide the right arm to click the simple hand bell with black stand's top center.",
+    "Tap the top center of the bell shaped like half-circle dome.",
+    "Press the center top of the plastic and metal bell.",
+    "Tap the small desk bell for tapping's top center with the right arm.",
+    "Push the center of the rounded bell with flat black part using the right arm.",
+    "Press the specified top area of the bell shaped like half-circle dome.",
+    "Have the right arm click at the white and black colored bell's top center.",
+    "Click the top center of the small desk bell for tapping on table.",
+    "Click the white dome bell at its top center on table.",
+    "Click using the right arm on the white bell's center.",
+    "Press down the top of the white dome bell using the right arm.",
+    "Push the bell with metallic top and plastic base's <top center> on the table",
+    "Direct the right arm to touch the white bell's top.",
+    "Activate the white bell by pressing its top center.",
+    "Direct the right arm to click the top of the white dome bell.",
+    "Press the center of the white and black colored bell using the right arm.",
+    "Press down the rounded bell with flat black part's top center gently.",
+    "Click the bell with black flat base's <top center> using the right arm",
+    "Press the compact tabletop bell's top center on the table.",
+    "Command the right arm to press the bell with metallic top and plastic base's top.",
+    "Press the compact tabletop bell's top center with the right arm firmly.",
+    "Pinpoint the rounded bell with flat black part and click its top center.",
+    "Use the right arm to touch the compact tabletop bell's top center.",
+    "Use the right arm to press the plastic and metal bell's top section.",
+    "Locate the rounded bell with flat black part and click its top center.",
+    "Ask the right arm to interact with the plastic and metal bell's top.",
+    "Click the designated center of the compact tabletop bell.",
+    "Press the top center of the rounded bell with flat black part on table.",
+    "Make the right arm interact with the rounded bell with flat black part's top center.",
+    "Click the bell shaped like half-circle dome's top center using the right arm.",
+    "Tap the white bell with black bottom's top center with the right arm.",
+    "Guide the right arm to click the plastic and metal bell's top center.",
+    "Tap the top center of the plastic and metal bell.",
+    "Press the center top of the white dome bell.",
+    "Tap the rounded bell with flat black part's top center with the right arm.",
+    "Push the center of the compact tabletop bell using the right arm.",
+    "Press the specified top area of the white dome bell.",
+    "Have the right arm click at the bell with black flat base's top center.",
+    "Click the top center of the simple hand bell with black stand on table.",
+    "Click the bell with metallic top and plastic base at its top center on table.",
+    "Click using the right arm on the bell shaped like half-circle dome's center.",
+    "Press down the top of the bell with metallic top and plastic base using the right arm.",
+    "Push the white and black colored bell's <top center> on the table",
+    "Direct the right arm to touch the bell with black flat base's top.",
+    "Activate the compact tabletop bell by pressing its top center.",
+    "Direct the right arm to click the top of the plastic and metal bell.",
+    "Press the center of the bell with metallic top and plastic base using the right arm.",
+    "Press down the small desk bell for tapping's top center gently.",
+    "Click the compact tabletop bell's <top center> using the right arm",
+    "Press the simple hand bell with black stand's top center on the table.",
+    "Command the right arm to press the white bell's top.",
+    "Press the compact tabletop bell's top center with the right arm firmly.",
+    "Pinpoint the plastic and metal bell and click its top center.",
+    "Use the right arm to touch the bell with metallic top and plastic base's top center.",
+    "Use the right arm to press the bell with metallic top and plastic base's top section.",
+    "Locate the small desk bell for tapping and click its top center.",
+    "Ask the right arm to interact with the bell with black flat base's top.",
+    "Click the designated center of the white bell.",
+    "Press the top center of the compact tabletop bell on table.",
+    "Make the right arm interact with the white dome bell's top center.",
+    "Click the compact tabletop bell's top center using the right arm.",
+    "Tap the compact tabletop bell's top center with the right arm.",
+    "Guide the right arm to click the white dome bell's top center.",
+    "Tap the top center of the bell with black flat base.",
+    "Press the center top of the bell shaped like half-circle dome.",
+    "Tap the compact tabletop bell's top center with the right arm.",
+    "Push the center of the simple hand bell with black stand using the right arm.",
+    "Press the specified top area of the white dome bell.",
+    "Have the right arm click at the simple hand bell with black stand's top center.",
+    "Click the top center of the rounded bell with flat black part on table.",
+    "Click the white dome bell at its top center on table.",
+    "Click using the right arm on the bell with metallic top and plastic base's center.",
+    "Press down the top of the plastic and metal bell using the right arm.",
+    "Push the simple hand bell with black stand's <top center> on the table",
+    "Direct the right arm to touch the compact tabletop bell's top.",
+    "Activate the white bell by pressing its top center.",
+    "Direct the right arm to click the top of the bell shaped like half-circle dome.",
+    "Press the center of the bell with metallic top and plastic base using the right arm.",
+    "Press down the plastic and metal bell's top center gently.",
+    "Click the bell with metallic top and plastic base's <top center> using the right arm",
+    "Press the rounded bell with flat black part's top center on the table.",
+    "Command the right arm to press the white and black colored bell's top.",
+    "Press the compact tabletop bell's top center with the right arm firmly.",
+    "Pinpoint the simple hand bell with black stand and click its top center.",
+    "Use the right arm to touch the bell with metallic top and plastic base's top center.",
+    "Use the right arm to press the white dome bell's top section.",
+    "Locate the white bell with black bottom and click its top center.",
+    "Ask the right arm to interact with the rounded bell with flat black part's top.",
+    "Click the designated center of the plastic and metal bell.",
+    "Press the top center of the rounded bell with flat black part on table.",
+    "Make the right arm interact with the white bell with black bottom's top center.",
+    "Click the white and black colored bell's top center using the right arm.",
+    "Tap the white bell with black bottom's top center with the right arm.",
+    "Guide the right arm to click the white dome bell's top center."
+  ],
+  "unseen": [
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the top center of the lightweight bell with smooth surface."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001046.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Tap the top center of the white bell with black bottom.",
+    "Make the right arm interact with the white and black colored bell's top center.",
+    "Locate the white bell with black bottom and click its top center.",
+    "Press the simple hand bell with black stand's top center with the right arm firmly.",
+    "Press the top center of the small desk bell for tapping on table.",
+    "Direct the right arm to click the top of the white dome bell.",
+    "Ask the right arm to interact with the white bell's top.",
+    "Push the center of the plastic and metal bell using the right arm.",
+    "Tap the white and black colored bell's top center with the right arm.",
+    "Direct the right arm to touch the rounded bell with flat black part's top.",
+    "Click the white and black colored bell's <top center> using the right arm",
+    "Guide the right arm to click the plastic and metal bell's top center.",
+    "Press the bell with metallic top and plastic base's top center on the table.",
+    "Press the specified top area of the bell with metallic top and plastic base.",
+    "Use the right arm to touch the compact tabletop bell's top center.",
+    "Click using the right arm on the white dome bell's center.",
+    "Click the rounded bell with flat black part's top center using the right arm.",
+    "Push the simple hand bell with black stand's <top center> on the table",
+    "Have the right arm click at the white bell's top center.",
+    "Tap the bell with black flat base's top center with the right arm.",
+    "Activate the white bell by pressing its top center.",
+    "Pinpoint the white and black colored bell and click its top center.",
+    "Use the right arm to press the bell with black flat base's top section.",
+    "Press the center top of the white and black colored bell.",
+    "Click the top center of the white and black colored bell on table.",
+    "Press down the white bell with black bottom's top center gently.",
+    "Press the center of the simple hand bell with black stand using the right arm.",
+    "Press down the top of the rounded bell with flat black part using the right arm.",
+    "Command the right arm to press the bell shaped like half-circle dome's top.",
+    "Click the designated center of the white bell with black bottom.",
+    "Click the bell with metallic top and plastic base at its top center on table.",
+    "Tap the top center of the white bell.",
+    "Make the right arm interact with the simple hand bell with black stand's top center.",
+    "Locate the plastic and metal bell and click its top center.",
+    "Press the compact tabletop bell's top center with the right arm firmly.",
+    "Press the top center of the compact tabletop bell on table.",
+    "Direct the right arm to click the top of the white bell with black bottom.",
+    "Ask the right arm to interact with the white bell's top.",
+    "Push the center of the white dome bell using the right arm.",
+    "Tap the bell with black flat base's top center with the right arm.",
+    "Direct the right arm to touch the plastic and metal bell's top.",
+    "Click the bell with metallic top and plastic base's <top center> using the right arm",
+    "Guide the right arm to click the simple hand bell with black stand's top center.",
+    "Press the simple hand bell with black stand's top center on the table.",
+    "Press the specified top area of the rounded bell with flat black part.",
+    "Use the right arm to touch the rounded bell with flat black part's top center.",
+    "Click using the right arm on the plastic and metal bell's center.",
+    "Click the white bell's top center using the right arm.",
+    "Push the simple hand bell with black stand's <top center> on the table",
+    "Have the right arm click at the compact tabletop bell's top center.",
+    "Tap the bell shaped like half-circle dome's top center with the right arm.",
+    "Activate the white bell by pressing its top center.",
+    "Pinpoint the compact tabletop bell and click its top center.",
+    "Use the right arm to press the simple hand bell with black stand's top section.",
+    "Press the center top of the white bell.",
+    "Click the top center of the white bell with black bottom on table.",
+    "Press down the simple hand bell with black stand's top center gently.",
+    "Press the center of the simple hand bell with black stand using the right arm.",
+    "Press down the top of the simple hand bell with black stand using the right arm.",
+    "Command the right arm to press the bell with metallic top and plastic base's top.",
+    "Click the designated center of the rounded bell with flat black part.",
+    "Click the bell shaped like half-circle dome at its top center on table.",
+    "Tap the top center of the white dome bell.",
+    "Make the right arm interact with the plastic and metal bell's top center.",
+    "Locate the compact tabletop bell and click its top center.",
+    "Press the plastic and metal bell's top center with the right arm firmly.",
+    "Press the top center of the white bell on table.",
+    "Direct the right arm to click the top of the white bell.",
+    "Ask the right arm to interact with the white and black colored bell's top.",
+    "Push the center of the compact tabletop bell using the right arm.",
+    "Tap the bell shaped like half-circle dome's top center with the right arm.",
+    "Direct the right arm to touch the white bell's top.",
+    "Click the white and black colored bell's <top center> using the right arm",
+    "Guide the right arm to click the bell with metallic top and plastic base's top center.",
+    "Press the bell with metallic top and plastic base's top center on the table.",
+    "Press the specified top area of the white bell.",
+    "Use the right arm to touch the bell with black flat base's top center.",
+    "Click using the right arm on the white bell with black bottom's center.",
+    "Click the small desk bell for tapping's top center using the right arm.",
+    "Push the white bell's <top center> on the table",
+    "Have the right arm click at the compact tabletop bell's top center.",
+    "Tap the white dome bell's top center with the right arm.",
+    "Activate the white bell with black bottom by pressing its top center.",
+    "Pinpoint the small desk bell for tapping and click its top center.",
+    "Use the right arm to press the bell with metallic top and plastic base's top section.",
+    "Press the center top of the small desk bell for tapping.",
+    "Click the top center of the small desk bell for tapping on table.",
+    "Press down the bell with black flat base's top center gently.",
+    "Press the center of the white bell with black bottom using the right arm.",
+    "Press down the top of the bell with metallic top and plastic base using the right arm.",
+    "Command the right arm to press the small desk bell for tapping's top.",
+    "Click the designated center of the plastic and metal bell.",
+    "Click the bell shaped like half-circle dome at its top center on table.",
+    "Tap the top center of the plastic and metal bell.",
+    "Make the right arm interact with the bell with black flat base's top center.",
+    "Locate the bell with black flat base and click its top center.",
+    "Press the rounded bell with flat black part's top center with the right arm firmly.",
+    "Press the top center of the small desk bell for tapping on table.",
+    "Direct the right arm to click the top of the small desk bell for tapping.",
+    "Ask the right arm to interact with the white and black colored bell's top."
+  ],
+  "unseen": [
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the lightweight bell with smooth surface's top center on the table."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001047.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Direct the right arm to touch the bell with black flat base's top.",
+    "Press the compact tabletop bell's top center with the right arm firmly.",
+    "Direct the right arm to click the top of the white bell.",
+    "Press the specified top area of the bell with metallic top and plastic base.",
+    "Tap the top center of the plastic and metal bell.",
+    "Press the center of the white and black colored bell using the right arm.",
+    "Click using the right arm on the white dome bell's center.",
+    "Activate the white and black colored bell by pressing its top center.",
+    "Push the simple hand bell with black stand's <top center> on the table",
+    "Have the right arm click at the compact tabletop bell's top center.",
+    "Press the white dome bell's top center on the table.",
+    "Use the right arm to press the plastic and metal bell's top section.",
+    "Click the rounded bell with flat black part's top center using the right arm.",
+    "Click the white and black colored bell's <top center> using the right arm",
+    "Click the compact tabletop bell at its top center on table.",
+    "Push the center of the bell with black flat base using the right arm.",
+    "Make the right arm interact with the simple hand bell with black stand's top center.",
+    "Pinpoint the small desk bell for tapping and click its top center.",
+    "Guide the right arm to click the white bell's top center.",
+    "Press the center top of the small desk bell for tapping.",
+    "Tap the white and black colored bell's top center with the right arm.",
+    "Press down the small desk bell for tapping's top center gently.",
+    "Press the top center of the small desk bell for tapping on table.",
+    "Press down the top of the white dome bell using the right arm.",
+    "Command the right arm to press the small desk bell for tapping's top.",
+    "Use the right arm to touch the simple hand bell with black stand's top center.",
+    "Tap the rounded bell with flat black part's top center with the right arm.",
+    "Ask the right arm to interact with the rounded bell with flat black part's top.",
+    "Locate the white bell with black bottom and click its top center.",
+    "Click the designated center of the bell with black flat base.",
+    "Click the top center of the simple hand bell with black stand on table.",
+    "Direct the right arm to touch the small desk bell for tapping's top.",
+    "Press the rounded bell with flat black part's top center with the right arm firmly.",
+    "Direct the right arm to click the top of the bell with black flat base.",
+    "Press the specified top area of the bell shaped like half-circle dome.",
+    "Tap the top center of the simple hand bell with black stand.",
+    "Press the center of the bell with black flat base using the right arm.",
+    "Click using the right arm on the rounded bell with flat black part's center.",
+    "Activate the bell with metallic top and plastic base by pressing its top center.",
+    "Push the bell shaped like half-circle dome's <top center> on the table",
+    "Have the right arm click at the compact tabletop bell's top center.",
+    "Press the simple hand bell with black stand's top center on the table.",
+    "Use the right arm to press the bell shaped like half-circle dome's top section.",
+    "Click the compact tabletop bell's top center using the right arm.",
+    "Click the white bell's <top center> using the right arm",
+    "Click the white and black colored bell at its top center on table.",
+    "Push the center of the bell with metallic top and plastic base using the right arm.",
+    "Make the right arm interact with the white bell's top center.",
+    "Pinpoint the white bell with black bottom and click its top center.",
+    "Guide the right arm to click the bell with metallic top and plastic base's top center.",
+    "Press the center top of the white and black colored bell.",
+    "Tap the bell shaped like half-circle dome's top center with the right arm.",
+    "Press down the plastic and metal bell's top center gently.",
+    "Press the top center of the white bell with black bottom on table.",
+    "Press down the top of the bell with metallic top and plastic base using the right arm.",
+    "Command the right arm to press the simple hand bell with black stand's top.",
+    "Use the right arm to touch the bell with black flat base's top center.",
+    "Tap the small desk bell for tapping's top center with the right arm.",
+    "Ask the right arm to interact with the white bell with black bottom's top.",
+    "Locate the bell shaped like half-circle dome and click its top center.",
+    "Click the designated center of the compact tabletop bell.",
+    "Click the top center of the simple hand bell with black stand on table.",
+    "Direct the right arm to touch the bell shaped like half-circle dome's top.",
+    "Press the white bell with black bottom's top center with the right arm firmly.",
+    "Direct the right arm to click the top of the bell with black flat base.",
+    "Press the specified top area of the rounded bell with flat black part.",
+    "Tap the top center of the plastic and metal bell.",
+    "Press the center of the bell with metallic top and plastic base using the right arm.",
+    "Click using the right arm on the plastic and metal bell's center.",
+    "Activate the bell shaped like half-circle dome by pressing its top center.",
+    "Push the bell with metallic top and plastic base's <top center> on the table",
+    "Have the right arm click at the white and black colored bell's top center.",
+    "Press the white bell's top center on the table.",
+    "Use the right arm to press the compact tabletop bell's top section.",
+    "Click the white bell with black bottom's top center using the right arm.",
+    "Click the white bell's <top center> using the right arm",
+    "Click the white bell with black bottom at its top center on table.",
+    "Push the center of the small desk bell for tapping using the right arm.",
+    "Make the right arm interact with the bell shaped like half-circle dome's top center.",
+    "Pinpoint the white dome bell and click its top center.",
+    "Guide the right arm to click the small desk bell for tapping's top center.",
+    "Press the center top of the white dome bell.",
+    "Tap the white and black colored bell's top center with the right arm.",
+    "Press down the white dome bell's top center gently.",
+    "Press the top center of the bell with black flat base on table.",
+    "Press down the top of the simple hand bell with black stand using the right arm.",
+    "Command the right arm to press the rounded bell with flat black part's top.",
+    "Use the right arm to touch the rounded bell with flat black part's top center.",
+    "Tap the rounded bell with flat black part's top center with the right arm.",
+    "Ask the right arm to interact with the bell with black flat base's top.",
+    "Locate the white bell with black bottom and click its top center.",
+    "Click the designated center of the white and black colored bell.",
+    "Click the top center of the white and black colored bell on table.",
+    "Direct the right arm to touch the small desk bell for tapping's top.",
+    "Press the rounded bell with flat black part's top center with the right arm firmly.",
+    "Direct the right arm to click the top of the small desk bell for tapping.",
+    "Press the specified top area of the rounded bell with flat black part.",
+    "Tap the top center of the white bell with black bottom.",
+    "Press the center of the compact tabletop bell using the right arm.",
+    "Click using the right arm on the white dome bell's center."
+  ],
+  "unseen": [
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001051.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Direct the left arm to touch the bell with protruding knob's top.",
+    "Push the small blue and brown bell's <top center> on the table",
+    "Have the left arm click at the metal bell with plastic parts's top center.",
+    "Use the left arm to touch the blue bell's top center.",
+    "Pinpoint the compact bell with round base and click its top center.",
+    "Click the compact bell with round base at its top center on table.",
+    "Press the center of the round bell using the left arm.",
+    "Command the left arm to press the metal bell with plastic parts's top.",
+    "Tap the top center of the blue bell.",
+    "Activate the blue dome-shaped bell by pressing its top center.",
+    "Ask the left arm to interact with the small blue and brown bell's top.",
+    "Make the left arm interact with the bell with brown base's top center.",
+    "Use the left arm to press the blue dome-shaped bell's top section.",
+    "Tap the small blue and brown bell's top center with the left arm.",
+    "Press the specified top area of the small blue and brown bell.",
+    "Guide the left arm to click the bell with protruding knob's top center.",
+    "Locate the small blue and brown bell and click its top center.",
+    "Press the compact bell with round base's top center with the left arm firmly.",
+    "Press down the metal bell with plastic parts's top center gently.",
+    "Click the designated center of the metal bell with plastic parts.",
+    "Direct the left arm to click the top of the smooth blue bell.",
+    "Click the top center of the compact bell with round base on table.",
+    "Press down the top of the bell with brown base using the left arm.",
+    "Press the round bell's top center on the table.",
+    "Click the bell with brown base's <top center> using the left arm",
+    "Click using the left arm on the flat-topped bell's center.",
+    "Push the center of the smooth blue bell using the left arm.",
+    "Press the center top of the brown-bottomed bell.",
+    "Press the top center of the compact bell with round base on table.",
+    "Tap the small blue and brown bell's top center with the left arm.",
+    "Click the metal bell with plastic parts's top center using the left arm.",
+    "Direct the left arm to touch the bell with protruding knob's top.",
+    "Push the bell with brown base's <top center> on the table",
+    "Have the left arm click at the small blue and brown bell's top center.",
+    "Use the left arm to touch the smooth blue bell's top center.",
+    "Pinpoint the blue bell and click its top center.",
+    "Click the flat-topped bell at its top center on table.",
+    "Press the center of the bell with circular body using the left arm.",
+    "Command the left arm to press the smooth blue bell's top.",
+    "Tap the top center of the smooth blue bell.",
+    "Activate the metal bell with plastic parts by pressing its top center.",
+    "Ask the left arm to interact with the blue dome-shaped bell's top.",
+    "Make the left arm interact with the bell with circular body's top center.",
+    "Use the left arm to press the bell with protruding knob's top section.",
+    "Tap the round bell's top center with the left arm.",
+    "Press the specified top area of the bell with circular body.",
+    "Guide the left arm to click the bell with brown base's top center.",
+    "Locate the bell with circular body and click its top center.",
+    "Press the bell with circular body's top center with the left arm firmly.",
+    "Press down the flat-topped bell's top center gently.",
+    "Click the designated center of the round bell.",
+    "Direct the left arm to click the top of the small blue and brown bell.",
+    "Click the top center of the metal bell with plastic parts on table.",
+    "Press down the top of the blue dome-shaped bell using the left arm.",
+    "Press the bell with circular body's top center on the table.",
+    "Click the metal bell with plastic parts's <top center> using the left arm",
+    "Click using the left arm on the metal bell with plastic parts's center.",
+    "Push the center of the brown-bottomed bell using the left arm.",
+    "Press the center top of the bell with circular body.",
+    "Press the top center of the blue dome-shaped bell on table.",
+    "Tap the compact bell with round base's top center with the left arm.",
+    "Click the metal bell with plastic parts's top center using the left arm.",
+    "Direct the left arm to touch the brown-bottomed bell's top.",
+    "Push the flat-topped bell's <top center> on the table",
+    "Have the left arm click at the flat-topped bell's top center.",
+    "Use the left arm to touch the brown-bottomed bell's top center.",
+    "Pinpoint the metal bell with plastic parts and click its top center.",
+    "Click the small blue and brown bell at its top center on table.",
+    "Press the center of the metal bell with plastic parts using the left arm.",
+    "Command the left arm to press the compact bell with round base's top.",
+    "Tap the top center of the small blue and brown bell.",
+    "Activate the bell with protruding knob by pressing its top center.",
+    "Ask the left arm to interact with the smooth blue bell's top.",
+    "Make the left arm interact with the round bell's top center.",
+    "Use the left arm to press the metal bell with plastic parts's top section.",
+    "Tap the brown-bottomed bell's top center with the left arm.",
+    "Press the specified top area of the round bell.",
+    "Guide the left arm to click the small blue and brown bell's top center.",
+    "Locate the compact bell with round base and click its top center.",
+    "Press the blue dome-shaped bell's top center with the left arm firmly.",
+    "Press down the small blue and brown bell's top center gently.",
+    "Click the designated center of the bell with circular body.",
+    "Direct the left arm to click the top of the bell with protruding knob.",
+    "Click the top center of the round bell on table.",
+    "Press down the top of the bell with circular body using the left arm.",
+    "Press the bell with circular body's top center on the table.",
+    "Click the bell with protruding knob's <top center> using the left arm",
+    "Click using the left arm on the blue dome-shaped bell's center.",
+    "Push the center of the round bell using the left arm.",
+    "Press the center top of the compact bell with round base.",
+    "Press the top center of the small blue and brown bell on table.",
+    "Tap the bell with brown base's top center with the left arm.",
+    "Click the flat-topped bell's top center using the left arm.",
+    "Direct the left arm to touch the brown-bottomed bell's top.",
+    "Push the bell with circular body's <top center> on the table",
+    "Have the left arm click at the bell with circular body's top center.",
+    "Use the left arm to touch the blue dome-shaped bell's top center.",
+    "Pinpoint the blue bell and click its top center.",
+    "Click the small blue and brown bell at its top center on table.",
+    "Press the center of the metal bell with plastic parts using the left arm."
+  ],
+  "unseen": [
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001054.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the specified top area of the brown-bottomed bell.",
+    "Use the right arm to touch the compact bell with round base's top center.",
+    "Direct the right arm to click the top of the compact bell with round base.",
+    "Guide the right arm to click the metal bell with plastic parts's top center.",
+    "Have the right arm click at the round bell's top center.",
+    "Locate the bell with protruding knob and click its top center.",
+    "Press the brown-bottomed bell's top center with the right arm firmly.",
+    "Press the bell with protruding knob's top center on the table.",
+    "Press the center of the blue bell using the right arm.",
+    "Click the flat-topped bell's top center using the right arm.",
+    "Make the right arm interact with the smooth blue bell's top center.",
+    "Use the right arm to press the small blue and brown bell's top section.",
+    "Click using the right arm on the metal bell with plastic parts's center.",
+    "Push the metal bell with plastic parts's <top center> on the table",
+    "Tap the top center of the blue bell.",
+    "Tap the blue dome-shaped bell's top center with the right arm.",
+    "Press the top center of the metal bell with plastic parts on table.",
+    "Tap the compact bell with round base's top center with the right arm.",
+    "Press down the top of the round bell using the right arm.",
+    "Command the right arm to press the flat-topped bell's top.",
+    "Click the smooth blue bell at its top center on table.",
+    "Direct the right arm to touch the brown-bottomed bell's top.",
+    "Press the center top of the bell with protruding knob.",
+    "Press down the bell with brown base's top center gently.",
+    "Activate the bell with brown base by pressing its top center.",
+    "Click the top center of the compact bell with round base on table.",
+    "Pinpoint the compact bell with round base and click its top center.",
+    "Click the designated center of the metal bell with plastic parts.",
+    "Push the center of the small blue and brown bell using the right arm.",
+    "Click the metal bell with plastic parts's <top center> using the right arm",
+    "Ask the right arm to interact with the blue bell's top.",
+    "Press the specified top area of the brown-bottomed bell.",
+    "Use the right arm to touch the flat-topped bell's top center.",
+    "Direct the right arm to click the top of the round bell.",
+    "Guide the right arm to click the smooth blue bell's top center.",
+    "Have the right arm click at the brown-bottomed bell's top center.",
+    "Locate the brown-bottomed bell and click its top center.",
+    "Press the bell with protruding knob's top center with the right arm firmly.",
+    "Press the bell with circular body's top center on the table.",
+    "Press the center of the flat-topped bell using the right arm.",
+    "Click the brown-bottomed bell's top center using the right arm.",
+    "Make the right arm interact with the brown-bottomed bell's top center.",
+    "Use the right arm to press the bell with circular body's top section.",
+    "Click using the right arm on the flat-topped bell's center.",
+    "Push the bell with protruding knob's <top center> on the table",
+    "Tap the top center of the blue bell.",
+    "Tap the brown-bottomed bell's top center with the right arm.",
+    "Press the top center of the round bell on table.",
+    "Tap the flat-topped bell's top center with the right arm.",
+    "Press down the top of the compact bell with round base using the right arm.",
+    "Command the right arm to press the round bell's top.",
+    "Click the blue dome-shaped bell at its top center on table.",
+    "Direct the right arm to touch the flat-topped bell's top.",
+    "Press the center top of the metal bell with plastic parts.",
+    "Press down the round bell's top center gently.",
+    "Activate the compact bell with round base by pressing its top center.",
+    "Click the top center of the flat-topped bell on table.",
+    "Pinpoint the brown-bottomed bell and click its top center.",
+    "Click the designated center of the round bell.",
+    "Push the center of the bell with protruding knob using the right arm.",
+    "Click the blue bell's <top center> using the right arm",
+    "Ask the right arm to interact with the round bell's top.",
+    "Press the specified top area of the metal bell with plastic parts.",
+    "Use the right arm to touch the bell with brown base's top center.",
+    "Direct the right arm to click the top of the flat-topped bell.",
+    "Guide the right arm to click the small blue and brown bell's top center.",
+    "Have the right arm click at the round bell's top center.",
+    "Locate the blue dome-shaped bell and click its top center.",
+    "Press the smooth blue bell's top center with the right arm firmly.",
+    "Press the compact bell with round base's top center on the table.",
+    "Press the center of the flat-topped bell using the right arm.",
+    "Click the bell with protruding knob's top center using the right arm.",
+    "Make the right arm interact with the round bell's top center.",
+    "Use the right arm to press the brown-bottomed bell's top section.",
+    "Click using the right arm on the bell with protruding knob's center.",
+    "Push the small blue and brown bell's <top center> on the table",
+    "Tap the top center of the smooth blue bell.",
+    "Tap the bell with protruding knob's top center with the right arm.",
+    "Press the top center of the compact bell with round base on table.",
+    "Tap the compact bell with round base's top center with the right arm.",
+    "Press down the top of the brown-bottomed bell using the right arm.",
+    "Command the right arm to press the flat-topped bell's top.",
+    "Click the smooth blue bell at its top center on table.",
+    "Direct the right arm to touch the flat-topped bell's top.",
+    "Press the center top of the flat-topped bell.",
+    "Press down the blue dome-shaped bell's top center gently.",
+    "Activate the bell with circular body by pressing its top center.",
+    "Click the top center of the brown-bottomed bell on table.",
+    "Pinpoint the smooth blue bell and click its top center.",
+    "Click the designated center of the compact bell with round base.",
+    "Push the center of the compact bell with round base using the right arm.",
+    "Click the smooth blue bell's <top center> using the right arm",
+    "Ask the right arm to interact with the round bell's top.",
+    "Press the specified top area of the bell with protruding knob.",
+    "Use the right arm to touch the blue bell's top center.",
+    "Direct the right arm to click the top of the smooth blue bell.",
+    "Guide the right arm to click the round bell's top center.",
+    "Have the right arm click at the bell with brown base's top center.",
+    "Locate the bell with circular body and click its top center.",
+    "Press the round bell's top center with the right arm firmly."
+  ],
+  "unseen": [
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the palm-sized bell's top center."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001063.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Locate the smooth blue bell and click its top center.",
+    "Press the center of the blue bell using the left arm.",
+    "Press the center top of the compact bell with round base.",
+    "Tap the small blue and brown bell's top center with the left arm.",
+    "Pinpoint the blue dome-shaped bell and click its top center.",
+    "Click the flat-topped bell at its top center on table.",
+    "Click the brown-bottomed bell's top center using the left arm.",
+    "Tap the blue bell's top center with the left arm.",
+    "Click the bell with protruding knob's <top center> using the left arm",
+    "Click the designated center of the brown-bottomed bell.",
+    "Direct the left arm to click the top of the small blue and brown bell.",
+    "Click using the left arm on the round bell's center.",
+    "Press the specified top area of the bell with brown base.",
+    "Guide the left arm to click the bell with protruding knob's top center.",
+    "Press the top center of the metal bell with plastic parts on table.",
+    "Click the top center of the flat-topped bell on table.",
+    "Use the left arm to touch the blue bell's top center.",
+    "Make the left arm interact with the brown-bottomed bell's top center.",
+    "Activate the metal bell with plastic parts by pressing its top center.",
+    "Use the left arm to press the bell with circular body's top section.",
+    "Push the center of the bell with circular body using the left arm.",
+    "Push the brown-bottomed bell's <top center> on the table",
+    "Tap the top center of the round bell.",
+    "Press down the top of the smooth blue bell using the left arm.",
+    "Ask the left arm to interact with the round bell's top.",
+    "Direct the left arm to touch the blue bell's top.",
+    "Have the left arm click at the round bell's top center.",
+    "Press the compact bell with round base's top center on the table.",
+    "Press down the blue dome-shaped bell's top center gently.",
+    "Press the round bell's top center with the left arm firmly.",
+    "Command the left arm to press the round bell's top.",
+    "Locate the small blue and brown bell and click its top center.",
+    "Press the center of the compact bell with round base using the left arm.",
+    "Press the center top of the bell with brown base.",
+    "Tap the smooth blue bell's top center with the left arm.",
+    "Pinpoint the blue dome-shaped bell and click its top center.",
+    "Click the blue dome-shaped bell at its top center on table.",
+    "Click the compact bell with round base's top center using the left arm.",
+    "Tap the compact bell with round base's top center with the left arm.",
+    "Click the metal bell with plastic parts's <top center> using the left arm",
+    "Click the designated center of the flat-topped bell.",
+    "Direct the left arm to click the top of the small blue and brown bell.",
+    "Click using the left arm on the round bell's center.",
+    "Press the specified top area of the blue bell.",
+    "Guide the left arm to click the bell with brown base's top center.",
+    "Press the top center of the blue bell on table.",
+    "Click the top center of the small blue and brown bell on table.",
+    "Use the left arm to touch the bell with brown base's top center.",
+    "Make the left arm interact with the blue bell's top center.",
+    "Activate the metal bell with plastic parts by pressing its top center.",
+    "Use the left arm to press the brown-bottomed bell's top section.",
+    "Push the center of the blue dome-shaped bell using the left arm.",
+    "Push the blue dome-shaped bell's <top center> on the table",
+    "Tap the top center of the smooth blue bell.",
+    "Press down the top of the round bell using the left arm.",
+    "Ask the left arm to interact with the flat-topped bell's top.",
+    "Direct the left arm to touch the brown-bottomed bell's top.",
+    "Have the left arm click at the blue bell's top center.",
+    "Press the metal bell with plastic parts's top center on the table.",
+    "Press down the brown-bottomed bell's top center gently.",
+    "Press the brown-bottomed bell's top center with the left arm firmly.",
+    "Command the left arm to press the metal bell with plastic parts's top.",
+    "Locate the smooth blue bell and click its top center.",
+    "Press the center of the flat-topped bell using the left arm.",
+    "Press the center top of the bell with protruding knob.",
+    "Tap the bell with protruding knob's top center with the left arm.",
+    "Pinpoint the smooth blue bell and click its top center.",
+    "Click the round bell at its top center on table.",
+    "Click the small blue and brown bell's top center using the left arm.",
+    "Tap the metal bell with plastic parts's top center with the left arm.",
+    "Click the brown-bottomed bell's <top center> using the left arm",
+    "Click the designated center of the bell with brown base.",
+    "Direct the left arm to click the top of the bell with brown base.",
+    "Click using the left arm on the round bell's center.",
+    "Press the specified top area of the small blue and brown bell.",
+    "Guide the left arm to click the bell with protruding knob's top center.",
+    "Press the top center of the bell with protruding knob on table.",
+    "Click the top center of the metal bell with plastic parts on table.",
+    "Use the left arm to touch the flat-topped bell's top center.",
+    "Make the left arm interact with the smooth blue bell's top center.",
+    "Activate the round bell by pressing its top center.",
+    "Use the left arm to press the smooth blue bell's top section.",
+    "Push the center of the round bell using the left arm.",
+    "Push the bell with brown base's <top center> on the table",
+    "Tap the top center of the compact bell with round base.",
+    "Press down the top of the bell with protruding knob using the left arm.",
+    "Ask the left arm to interact with the compact bell with round base's top.",
+    "Direct the left arm to touch the metal bell with plastic parts's top.",
+    "Have the left arm click at the bell with protruding knob's top center.",
+    "Press the bell with circular body's top center on the table.",
+    "Press down the blue bell's top center gently.",
+    "Press the compact bell with round base's top center with the left arm firmly.",
+    "Command the left arm to press the round bell's top.",
+    "Locate the compact bell with round base and click its top center.",
+    "Press the center of the bell with brown base using the left arm.",
+    "Press the center top of the blue dome-shaped bell.",
+    "Tap the smooth blue bell's top center with the left arm.",
+    "Pinpoint the bell with protruding knob and click its top center.",
+    "Click the bell with protruding knob at its top center on table.",
+    "Click the smooth blue bell's top center using the left arm."
+  ],
+  "unseen": [
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Click the top center of the bell with raised round top."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001065.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press down the top of the bell with brown base using the right arm.",
+    "Click the brown-bottomed bell's <top center> using the right arm",
+    "Activate the small blue and brown bell by pressing its top center.",
+    "Guide the right arm to click the blue bell's top center.",
+    "Click the top center of the compact bell with round base on table.",
+    "Press the metal bell with plastic parts's top center with the right arm firmly.",
+    "Tap the small blue and brown bell's top center with the right arm.",
+    "Direct the right arm to click the top of the blue bell.",
+    "Push the smooth blue bell's <top center> on the table",
+    "Press the center top of the brown-bottomed bell.",
+    "Locate the blue dome-shaped bell and click its top center.",
+    "Push the center of the small blue and brown bell using the right arm.",
+    "Use the right arm to press the blue dome-shaped bell's top section.",
+    "Press the top center of the bell with protruding knob on table.",
+    "Click the blue dome-shaped bell at its top center on table.",
+    "Click using the right arm on the bell with circular body's center.",
+    "Press the small blue and brown bell's top center on the table.",
+    "Click the designated center of the small blue and brown bell.",
+    "Use the right arm to touch the bell with circular body's top center.",
+    "Press the specified top area of the blue dome-shaped bell.",
+    "Click the flat-topped bell's top center using the right arm.",
+    "Ask the right arm to interact with the compact bell with round base's top.",
+    "Pinpoint the round bell and click its top center.",
+    "Tap the round bell's top center with the right arm.",
+    "Direct the right arm to touch the small blue and brown bell's top.",
+    "Have the right arm click at the flat-topped bell's top center.",
+    "Make the right arm interact with the bell with brown base's top center.",
+    "Tap the top center of the metal bell with plastic parts.",
+    "Press the center of the metal bell with plastic parts using the right arm.",
+    "Command the right arm to press the brown-bottomed bell's top.",
+    "Press down the brown-bottomed bell's top center gently.",
+    "Press down the top of the bell with circular body using the right arm.",
+    "Click the blue dome-shaped bell's <top center> using the right arm",
+    "Activate the smooth blue bell by pressing its top center.",
+    "Guide the right arm to click the metal bell with plastic parts's top center.",
+    "Click the top center of the bell with protruding knob on table.",
+    "Press the blue dome-shaped bell's top center with the right arm firmly.",
+    "Tap the round bell's top center with the right arm.",
+    "Direct the right arm to click the top of the brown-bottomed bell.",
+    "Push the round bell's <top center> on the table",
+    "Press the center top of the blue bell.",
+    "Locate the bell with circular body and click its top center.",
+    "Push the center of the smooth blue bell using the right arm.",
+    "Use the right arm to press the compact bell with round base's top section.",
+    "Press the top center of the flat-topped bell on table.",
+    "Click the blue bell at its top center on table.",
+    "Click using the right arm on the flat-topped bell's center.",
+    "Press the blue bell's top center on the table.",
+    "Click the designated center of the blue bell.",
+    "Use the right arm to touch the compact bell with round base's top center.",
+    "Press the specified top area of the small blue and brown bell.",
+    "Click the metal bell with plastic parts's top center using the right arm.",
+    "Ask the right arm to interact with the metal bell with plastic parts's top.",
+    "Pinpoint the bell with brown base and click its top center.",
+    "Tap the bell with protruding knob's top center with the right arm.",
+    "Direct the right arm to touch the bell with protruding knob's top.",
+    "Have the right arm click at the round bell's top center.",
+    "Make the right arm interact with the flat-topped bell's top center.",
+    "Tap the top center of the compact bell with round base.",
+    "Press the center of the bell with brown base using the right arm.",
+    "Command the right arm to press the metal bell with plastic parts's top.",
+    "Press down the smooth blue bell's top center gently.",
+    "Press down the top of the compact bell with round base using the right arm.",
+    "Click the bell with brown base's <top center> using the right arm",
+    "Activate the brown-bottomed bell by pressing its top center.",
+    "Guide the right arm to click the bell with brown base's top center.",
+    "Click the top center of the small blue and brown bell on table.",
+    "Press the compact bell with round base's top center with the right arm firmly.",
+    "Tap the smooth blue bell's top center with the right arm.",
+    "Direct the right arm to click the top of the metal bell with plastic parts.",
+    "Push the smooth blue bell's <top center> on the table",
+    "Press the center top of the bell with protruding knob.",
+    "Locate the bell with protruding knob and click its top center.",
+    "Push the center of the blue bell using the right arm.",
+    "Use the right arm to press the blue dome-shaped bell's top section.",
+    "Press the top center of the small blue and brown bell on table.",
+    "Click the compact bell with round base at its top center on table.",
+    "Click using the right arm on the round bell's center.",
+    "Press the smooth blue bell's top center on the table.",
+    "Click the designated center of the small blue and brown bell.",
+    "Use the right arm to touch the bell with protruding knob's top center.",
+    "Press the specified top area of the brown-bottomed bell.",
+    "Click the flat-topped bell's top center using the right arm.",
+    "Ask the right arm to interact with the bell with protruding knob's top.",
+    "Pinpoint the round bell and click its top center.",
+    "Tap the compact bell with round base's top center with the right arm.",
+    "Direct the right arm to touch the small blue and brown bell's top.",
+    "Have the right arm click at the small blue and brown bell's top center.",
+    "Make the right arm interact with the flat-topped bell's top center.",
+    "Tap the top center of the bell with brown base.",
+    "Press the center of the smooth blue bell using the right arm.",
+    "Command the right arm to press the compact bell with round base's top.",
+    "Press down the blue dome-shaped bell's top center gently.",
+    "Press down the top of the bell with brown base using the right arm.",
+    "Click the bell with circular body's <top center> using the right arm",
+    "Activate the round bell by pressing its top center.",
+    "Guide the right arm to click the brown-bottomed bell's top center.",
+    "Click the top center of the blue bell on table.",
+    "Press the blue bell's top center with the right arm firmly.",
+    "Tap the bell with brown base's top center with the right arm."
+  ],
+  "unseen": [
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the bell with raised round top and click its top center."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001078.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to touch the plastic and metal bell's top center.",
+    "Press the compact tabletop bell's top center on the table.",
+    "Push the center of the white dome bell using the left arm.",
+    "Use the left arm to press the compact tabletop bell's top section.",
+    "Click the designated center of the simple hand bell with black stand.",
+    "Press the top center of the bell with black flat base on table.",
+    "Pinpoint the simple hand bell with black stand and click its top center.",
+    "Click the small desk bell for tapping's top center using the left arm.",
+    "Direct the left arm to click the top of the white and black colored bell.",
+    "Ask the left arm to interact with the plastic and metal bell's top.",
+    "Tap the white bell with black bottom's top center with the left arm.",
+    "Click the simple hand bell with black stand at its top center on table.",
+    "Command the left arm to press the compact tabletop bell's top.",
+    "Press down the top of the rounded bell with flat black part using the left arm.",
+    "Tap the white bell's top center with the left arm.",
+    "Activate the small desk bell for tapping by pressing its top center.",
+    "Locate the white dome bell and click its top center.",
+    "Press the simple hand bell with black stand's top center with the left arm firmly.",
+    "Push the white bell's <top center> on the table",
+    "Click the top center of the bell shaped like half-circle dome on table.",
+    "Make the left arm interact with the bell shaped like half-circle dome's top center.",
+    "Have the left arm click at the bell with metallic top and plastic base's top center.",
+    "Tap the top center of the bell with black flat base.",
+    "Direct the left arm to touch the plastic and metal bell's top.",
+    "Press down the rounded bell with flat black part's top center gently.",
+    "Click the white dome bell's <top center> using the left arm",
+    "Guide the left arm to click the white bell with black bottom's top center.",
+    "Press the center top of the white bell.",
+    "Click using the left arm on the bell shaped like half-circle dome's center.",
+    "Press the specified top area of the compact tabletop bell.",
+    "Press the center of the small desk bell for tapping using the left arm.",
+    "Use the left arm to touch the bell shaped like half-circle dome's top center.",
+    "Press the white bell with black bottom's top center on the table.",
+    "Push the center of the plastic and metal bell using the left arm.",
+    "Use the left arm to press the rounded bell with flat black part's top section.",
+    "Click the designated center of the small desk bell for tapping.",
+    "Press the top center of the compact tabletop bell on table.",
+    "Pinpoint the white and black colored bell and click its top center.",
+    "Click the white and black colored bell's top center using the left arm.",
+    "Direct the left arm to click the top of the white bell.",
+    "Ask the left arm to interact with the white bell with black bottom's top.",
+    "Tap the bell with metallic top and plastic base's top center with the left arm.",
+    "Click the plastic and metal bell at its top center on table.",
+    "Command the left arm to press the simple hand bell with black stand's top.",
+    "Press down the top of the compact tabletop bell using the left arm.",
+    "Tap the white bell with black bottom's top center with the left arm.",
+    "Activate the bell with black flat base by pressing its top center.",
+    "Locate the rounded bell with flat black part and click its top center.",
+    "Press the white dome bell's top center with the left arm firmly.",
+    "Push the white dome bell's <top center> on the table",
+    "Click the top center of the white dome bell on table.",
+    "Make the left arm interact with the simple hand bell with black stand's top center.",
+    "Have the left arm click at the plastic and metal bell's top center.",
+    "Tap the top center of the compact tabletop bell.",
+    "Direct the left arm to touch the white bell's top.",
+    "Press down the compact tabletop bell's top center gently.",
+    "Click the white bell's <top center> using the left arm",
+    "Guide the left arm to click the white bell with black bottom's top center.",
+    "Press the center top of the small desk bell for tapping.",
+    "Click using the left arm on the rounded bell with flat black part's center.",
+    "Press the specified top area of the compact tabletop bell.",
+    "Press the center of the white bell with black bottom using the left arm.",
+    "Use the left arm to touch the plastic and metal bell's top center.",
+    "Press the compact tabletop bell's top center on the table.",
+    "Push the center of the small desk bell for tapping using the left arm.",
+    "Use the left arm to press the simple hand bell with black stand's top section.",
+    "Click the designated center of the white and black colored bell.",
+    "Press the top center of the plastic and metal bell on table.",
+    "Pinpoint the white and black colored bell and click its top center.",
+    "Click the simple hand bell with black stand's top center using the left arm.",
+    "Direct the left arm to click the top of the white bell.",
+    "Ask the left arm to interact with the white bell's top.",
+    "Tap the plastic and metal bell's top center with the left arm.",
+    "Click the small desk bell for tapping at its top center on table.",
+    "Command the left arm to press the simple hand bell with black stand's top.",
+    "Press down the top of the bell with metallic top and plastic base using the left arm.",
+    "Tap the bell with black flat base's top center with the left arm.",
+    "Activate the bell with black flat base by pressing its top center.",
+    "Locate the compact tabletop bell and click its top center.",
+    "Press the bell with black flat base's top center with the left arm firmly.",
+    "Push the bell with black flat base's <top center> on the table",
+    "Click the top center of the rounded bell with flat black part on table.",
+    "Make the left arm interact with the white bell with black bottom's top center.",
+    "Have the left arm click at the bell with black flat base's top center.",
+    "Tap the top center of the white and black colored bell.",
+    "Direct the left arm to touch the bell with black flat base's top.",
+    "Press down the white bell with black bottom's top center gently.",
+    "Click the bell shaped like half-circle dome's <top center> using the left arm",
+    "Guide the left arm to click the white dome bell's top center.",
+    "Press the center top of the small desk bell for tapping.",
+    "Click using the left arm on the bell with black flat base's center.",
+    "Press the specified top area of the bell with black flat base.",
+    "Press the center of the compact tabletop bell using the left arm.",
+    "Use the left arm to touch the white dome bell's top center.",
+    "Press the bell shaped like half-circle dome's top center on the table.",
+    "Push the center of the plastic and metal bell using the left arm.",
+    "Use the left arm to press the compact tabletop bell's top section.",
+    "Click the designated center of the compact tabletop bell.",
+    "Press the top center of the simple hand bell with black stand on table.",
+    "Pinpoint the plastic and metal bell and click its top center."
+  ],
+  "unseen": [
+    "Click the top center of the medium-sized bell.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Find the smooth metal bell and click its top center."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001093.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Make the left arm interact with the rounded bell with flat black part's top center.",
+    "Press the center of the white bell using the left arm.",
+    "Direct the left arm to click the top of the rounded bell with flat black part.",
+    "Tap the top center of the white bell with black bottom.",
+    "Direct the left arm to touch the bell with black flat base's top.",
+    "Activate the bell with metallic top and plastic base by pressing its top center.",
+    "Click the bell shaped like half-circle dome's top center using the left arm.",
+    "Use the left arm to touch the small desk bell for tapping's top center.",
+    "Push the center of the bell shaped like half-circle dome using the left arm.",
+    "Press the white dome bell's top center on the table.",
+    "Locate the plastic and metal bell and click its top center.",
+    "Click the designated center of the white dome bell.",
+    "Have the left arm click at the compact tabletop bell's top center.",
+    "Click the top center of the bell with metallic top and plastic base on table.",
+    "Press the plastic and metal bell's top center with the left arm firmly.",
+    "Click the small desk bell for tapping's <top center> using the left arm",
+    "Pinpoint the plastic and metal bell and click its top center.",
+    "Tap the white bell with black bottom's top center with the left arm.",
+    "Click using the left arm on the bell with black flat base's center.",
+    "Press down the bell shaped like half-circle dome's top center gently.",
+    "Press down the top of the plastic and metal bell using the left arm.",
+    "Use the left arm to press the rounded bell with flat black part's top section.",
+    "Tap the simple hand bell with black stand's top center with the left arm.",
+    "Ask the left arm to interact with the simple hand bell with black stand's top.",
+    "Press the specified top area of the white dome bell.",
+    "Push the bell with black flat base's <top center> on the table",
+    "Press the top center of the plastic and metal bell on table.",
+    "Click the plastic and metal bell at its top center on table.",
+    "Command the left arm to press the white dome bell's top.",
+    "Guide the left arm to click the white bell's top center.",
+    "Press the center top of the rounded bell with flat black part.",
+    "Make the left arm interact with the bell shaped like half-circle dome's top center.",
+    "Press the center of the small desk bell for tapping using the left arm.",
+    "Direct the left arm to click the top of the rounded bell with flat black part.",
+    "Tap the top center of the bell shaped like half-circle dome.",
+    "Direct the left arm to touch the white bell with black bottom's top.",
+    "Activate the rounded bell with flat black part by pressing its top center.",
+    "Click the compact tabletop bell's top center using the left arm.",
+    "Use the left arm to touch the white bell with black bottom's top center.",
+    "Push the center of the bell shaped like half-circle dome using the left arm.",
+    "Press the small desk bell for tapping's top center on the table.",
+    "Locate the white bell and click its top center.",
+    "Click the designated center of the white bell with black bottom.",
+    "Have the left arm click at the compact tabletop bell's top center.",
+    "Click the top center of the bell with metallic top and plastic base on table.",
+    "Press the compact tabletop bell's top center with the left arm firmly.",
+    "Click the white and black colored bell's <top center> using the left arm",
+    "Pinpoint the white and black colored bell and click its top center.",
+    "Tap the white bell's top center with the left arm.",
+    "Click using the left arm on the compact tabletop bell's center.",
+    "Press down the bell shaped like half-circle dome's top center gently.",
+    "Press down the top of the rounded bell with flat black part using the left arm.",
+    "Use the left arm to press the compact tabletop bell's top section.",
+    "Tap the plastic and metal bell's top center with the left arm.",
+    "Ask the left arm to interact with the plastic and metal bell's top.",
+    "Press the specified top area of the white bell with black bottom.",
+    "Push the simple hand bell with black stand's <top center> on the table",
+    "Press the top center of the simple hand bell with black stand on table.",
+    "Click the small desk bell for tapping at its top center on table.",
+    "Command the left arm to press the rounded bell with flat black part's top.",
+    "Guide the left arm to click the white dome bell's top center.",
+    "Press the center top of the white and black colored bell.",
+    "Make the left arm interact with the white dome bell's top center.",
+    "Press the center of the simple hand bell with black stand using the left arm.",
+    "Direct the left arm to click the top of the small desk bell for tapping.",
+    "Tap the top center of the white bell.",
+    "Direct the left arm to touch the white bell with black bottom's top.",
+    "Activate the bell with metallic top and plastic base by pressing its top center.",
+    "Click the rounded bell with flat black part's top center using the left arm.",
+    "Use the left arm to touch the white and black colored bell's top center.",
+    "Push the center of the simple hand bell with black stand using the left arm.",
+    "Press the white and black colored bell's top center on the table.",
+    "Locate the white and black colored bell and click its top center.",
+    "Click the designated center of the plastic and metal bell.",
+    "Have the left arm click at the small desk bell for tapping's top center.",
+    "Click the top center of the white dome bell on table.",
+    "Press the plastic and metal bell's top center with the left arm firmly.",
+    "Click the bell shaped like half-circle dome's <top center> using the left arm",
+    "Pinpoint the plastic and metal bell and click its top center.",
+    "Tap the white and black colored bell's top center with the left arm.",
+    "Click using the left arm on the simple hand bell with black stand's center.",
+    "Press down the white dome bell's top center gently.",
+    "Press down the top of the plastic and metal bell using the left arm.",
+    "Use the left arm to press the plastic and metal bell's top section.",
+    "Tap the rounded bell with flat black part's top center with the left arm.",
+    "Ask the left arm to interact with the simple hand bell with black stand's top.",
+    "Press the specified top area of the white and black colored bell.",
+    "Push the white bell with black bottom's <top center> on the table",
+    "Press the top center of the white and black colored bell on table.",
+    "Click the white dome bell at its top center on table.",
+    "Command the left arm to press the white dome bell's top.",
+    "Guide the left arm to click the plastic and metal bell's top center.",
+    "Press the center top of the plastic and metal bell.",
+    "Make the left arm interact with the bell with black flat base's top center.",
+    "Press the center of the white bell using the left arm.",
+    "Direct the left arm to click the top of the white dome bell.",
+    "Tap the top center of the bell with metallic top and plastic base.",
+    "Direct the left arm to touch the white bell with black bottom's top.",
+    "Activate the white bell with black bottom by pressing its top center.",
+    "Click the bell shaped like half-circle dome's top center using the left arm."
+  ],
+  "unseen": [
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001094.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the bell shaped like half-circle dome's top center with the right arm firmly.",
+    "Guide the right arm to click the bell shaped like half-circle dome's top center.",
+    "Make the right arm interact with the white dome bell's top center.",
+    "Use the right arm to touch the small desk bell for tapping's top center.",
+    "Direct the right arm to click the top of the white bell with black bottom.",
+    "Use the right arm to press the simple hand bell with black stand's top section.",
+    "Click using the right arm on the rounded bell with flat black part's center.",
+    "Command the right arm to press the plastic and metal bell's top.",
+    "Push the center of the white bell using the right arm.",
+    "Press the center top of the white bell with black bottom.",
+    "Tap the top center of the white bell.",
+    "Click the rounded bell with flat black part at its top center on table.",
+    "Press down the top of the bell shaped like half-circle dome using the right arm.",
+    "Press the top center of the small desk bell for tapping on table.",
+    "Push the bell shaped like half-circle dome's <top center> on the table",
+    "Press the specified top area of the bell with metallic top and plastic base.",
+    "Press the white bell with black bottom's top center on the table.",
+    "Pinpoint the rounded bell with flat black part and click its top center.",
+    "Have the right arm click at the white dome bell's top center.",
+    "Tap the compact tabletop bell's top center with the right arm.",
+    "Direct the right arm to touch the bell with black flat base's top.",
+    "Locate the bell with metallic top and plastic base and click its top center.",
+    "Click the designated center of the small desk bell for tapping.",
+    "Press down the bell with black flat base's top center gently.",
+    "Click the plastic and metal bell's top center using the right arm.",
+    "Click the top center of the bell shaped like half-circle dome on table.",
+    "Ask the right arm to interact with the compact tabletop bell's top.",
+    "Press the center of the rounded bell with flat black part using the right arm.",
+    "Activate the rounded bell with flat black part by pressing its top center.",
+    "Click the bell with black flat base's <top center> using the right arm",
+    "Tap the bell shaped like half-circle dome's top center with the right arm.",
+    "Press the bell with metallic top and plastic base's top center with the right arm firmly.",
+    "Guide the right arm to click the white and black colored bell's top center.",
+    "Make the right arm interact with the plastic and metal bell's top center.",
+    "Use the right arm to touch the rounded bell with flat black part's top center.",
+    "Direct the right arm to click the top of the rounded bell with flat black part.",
+    "Use the right arm to press the simple hand bell with black stand's top section.",
+    "Click using the right arm on the white bell with black bottom's center.",
+    "Command the right arm to press the plastic and metal bell's top.",
+    "Push the center of the simple hand bell with black stand using the right arm.",
+    "Press the center top of the bell shaped like half-circle dome.",
+    "Tap the top center of the white bell.",
+    "Click the white bell at its top center on table.",
+    "Press down the top of the small desk bell for tapping using the right arm.",
+    "Press the top center of the bell shaped like half-circle dome on table.",
+    "Push the bell with black flat base's <top center> on the table",
+    "Press the specified top area of the white dome bell.",
+    "Press the white bell's top center on the table.",
+    "Pinpoint the white and black colored bell and click its top center.",
+    "Have the right arm click at the simple hand bell with black stand's top center.",
+    "Tap the white bell with black bottom's top center with the right arm.",
+    "Direct the right arm to touch the white bell with black bottom's top.",
+    "Locate the bell with black flat base and click its top center.",
+    "Click the designated center of the white bell.",
+    "Press down the rounded bell with flat black part's top center gently.",
+    "Click the simple hand bell with black stand's top center using the right arm.",
+    "Click the top center of the white dome bell on table.",
+    "Ask the right arm to interact with the plastic and metal bell's top.",
+    "Press the center of the plastic and metal bell using the right arm.",
+    "Activate the simple hand bell with black stand by pressing its top center.",
+    "Click the white and black colored bell's <top center> using the right arm",
+    "Tap the white bell with black bottom's top center with the right arm.",
+    "Press the bell with metallic top and plastic base's top center with the right arm firmly.",
+    "Guide the right arm to click the white dome bell's top center.",
+    "Make the right arm interact with the white bell's top center.",
+    "Use the right arm to touch the simple hand bell with black stand's top center.",
+    "Direct the right arm to click the top of the small desk bell for tapping.",
+    "Use the right arm to press the bell shaped like half-circle dome's top section.",
+    "Click using the right arm on the white bell's center.",
+    "Command the right arm to press the compact tabletop bell's top.",
+    "Push the center of the white bell with black bottom using the right arm.",
+    "Press the center top of the plastic and metal bell.",
+    "Tap the top center of the bell with black flat base.",
+    "Click the white bell at its top center on table.",
+    "Press down the top of the white bell using the right arm.",
+    "Press the top center of the white and black colored bell on table.",
+    "Push the bell with black flat base's <top center> on the table",
+    "Press the specified top area of the compact tabletop bell.",
+    "Press the compact tabletop bell's top center on the table.",
+    "Pinpoint the white and black colored bell and click its top center.",
+    "Have the right arm click at the simple hand bell with black stand's top center.",
+    "Tap the plastic and metal bell's top center with the right arm.",
+    "Direct the right arm to touch the compact tabletop bell's top.",
+    "Locate the bell with metallic top and plastic base and click its top center.",
+    "Click the designated center of the white dome bell.",
+    "Press down the white and black colored bell's top center gently.",
+    "Click the simple hand bell with black stand's top center using the right arm.",
+    "Click the top center of the white dome bell on table.",
+    "Ask the right arm to interact with the plastic and metal bell's top.",
+    "Press the center of the small desk bell for tapping using the right arm.",
+    "Activate the bell with metallic top and plastic base by pressing its top center.",
+    "Click the small desk bell for tapping's <top center> using the right arm",
+    "Tap the small desk bell for tapping's top center with the right arm.",
+    "Press the bell with metallic top and plastic base's top center with the right arm firmly.",
+    "Guide the right arm to click the white dome bell's top center.",
+    "Make the right arm interact with the white dome bell's top center.",
+    "Use the right arm to touch the plastic and metal bell's top center.",
+    "Direct the right arm to click the top of the bell with metallic top and plastic base.",
+    "Use the right arm to press the simple hand bell with black stand's top section.",
+    "Click using the right arm on the compact tabletop bell's center."
+  ],
+  "unseen": [
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the smooth metal bell and click its top center."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001113.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the center of the small blue and brown bell using the right arm.",
+    "Press the center top of the flat-topped bell.",
+    "Tap the compact bell with round base's top center with the right arm.",
+    "Locate the small blue and brown bell and click its top center.",
+    "Press down the bell with protruding knob's top center gently.",
+    "Command the right arm to press the compact bell with round base's top.",
+    "Click the bell with circular body's top center using the right arm.",
+    "Ask the right arm to interact with the smooth blue bell's top.",
+    "Push the center of the blue dome-shaped bell using the right arm.",
+    "Push the flat-topped bell's <top center> on the table",
+    "Direct the right arm to touch the brown-bottomed bell's top.",
+    "Click the flat-topped bell at its top center on table.",
+    "Activate the bell with circular body by pressing its top center.",
+    "Click the bell with protruding knob's <top center> using the right arm",
+    "Have the right arm click at the bell with brown base's top center.",
+    "Press the metal bell with plastic parts's top center on the table.",
+    "Press down the top of the brown-bottomed bell using the right arm.",
+    "Press the top center of the bell with circular body on table.",
+    "Press the flat-topped bell's top center with the right arm firmly.",
+    "Use the right arm to touch the round bell's top center.",
+    "Use the right arm to press the bell with protruding knob's top section.",
+    "Make the right arm interact with the compact bell with round base's top center.",
+    "Click the top center of the small blue and brown bell on table.",
+    "Tap the top center of the flat-topped bell.",
+    "Click using the right arm on the smooth blue bell's center.",
+    "Pinpoint the bell with brown base and click its top center.",
+    "Click the designated center of the flat-topped bell.",
+    "Press the specified top area of the bell with brown base.",
+    "Guide the right arm to click the metal bell with plastic parts's top center.",
+    "Tap the blue bell's top center with the right arm.",
+    "Direct the right arm to click the top of the compact bell with round base.",
+    "Press the center of the blue bell using the right arm.",
+    "Press the center top of the round bell.",
+    "Tap the round bell's top center with the right arm.",
+    "Locate the bell with brown base and click its top center.",
+    "Press down the brown-bottomed bell's top center gently.",
+    "Command the right arm to press the small blue and brown bell's top.",
+    "Click the flat-topped bell's top center using the right arm.",
+    "Ask the right arm to interact with the smooth blue bell's top.",
+    "Push the center of the bell with protruding knob using the right arm.",
+    "Push the flat-topped bell's <top center> on the table",
+    "Direct the right arm to touch the flat-topped bell's top.",
+    "Click the bell with circular body at its top center on table.",
+    "Activate the bell with protruding knob by pressing its top center.",
+    "Click the bell with circular body's <top center> using the right arm",
+    "Have the right arm click at the brown-bottomed bell's top center.",
+    "Press the flat-topped bell's top center on the table.",
+    "Press down the top of the bell with circular body using the right arm.",
+    "Press the top center of the metal bell with plastic parts on table.",
+    "Press the compact bell with round base's top center with the right arm firmly.",
+    "Use the right arm to touch the smooth blue bell's top center.",
+    "Use the right arm to press the small blue and brown bell's top section.",
+    "Make the right arm interact with the bell with brown base's top center.",
+    "Click the top center of the metal bell with plastic parts on table.",
+    "Tap the top center of the compact bell with round base.",
+    "Click using the right arm on the bell with protruding knob's center.",
+    "Pinpoint the small blue and brown bell and click its top center.",
+    "Click the designated center of the smooth blue bell.",
+    "Press the specified top area of the small blue and brown bell.",
+    "Guide the right arm to click the bell with circular body's top center.",
+    "Tap the metal bell with plastic parts's top center with the right arm.",
+    "Direct the right arm to click the top of the bell with circular body.",
+    "Press the center of the blue bell using the right arm.",
+    "Press the center top of the bell with protruding knob.",
+    "Tap the flat-topped bell's top center with the right arm.",
+    "Locate the blue dome-shaped bell and click its top center.",
+    "Press down the bell with brown base's top center gently.",
+    "Command the right arm to press the bell with protruding knob's top.",
+    "Click the bell with brown base's top center using the right arm.",
+    "Ask the right arm to interact with the bell with brown base's top.",
+    "Push the center of the smooth blue bell using the right arm.",
+    "Push the flat-topped bell's <top center> on the table",
+    "Direct the right arm to touch the round bell's top.",
+    "Click the round bell at its top center on table.",
+    "Activate the round bell by pressing its top center.",
+    "Click the round bell's <top center> using the right arm",
+    "Have the right arm click at the compact bell with round base's top center.",
+    "Press the smooth blue bell's top center on the table.",
+    "Press down the top of the bell with brown base using the right arm.",
+    "Press the top center of the bell with brown base on table.",
+    "Press the brown-bottomed bell's top center with the right arm firmly.",
+    "Use the right arm to touch the blue dome-shaped bell's top center.",
+    "Use the right arm to press the bell with brown base's top section.",
+    "Make the right arm interact with the round bell's top center.",
+    "Click the top center of the bell with circular body on table.",
+    "Tap the top center of the metal bell with plastic parts.",
+    "Click using the right arm on the round bell's center.",
+    "Pinpoint the brown-bottomed bell and click its top center.",
+    "Click the designated center of the metal bell with plastic parts.",
+    "Press the specified top area of the blue bell.",
+    "Guide the right arm to click the smooth blue bell's top center.",
+    "Tap the blue bell's top center with the right arm.",
+    "Direct the right arm to click the top of the bell with brown base.",
+    "Press the center of the bell with protruding knob using the right arm.",
+    "Press the center top of the blue dome-shaped bell.",
+    "Tap the bell with circular body's top center with the right arm.",
+    "Locate the brown-bottomed bell and click its top center.",
+    "Press down the bell with brown base's top center gently.",
+    "Command the right arm to press the compact bell with round base's top.",
+    "Click the bell with protruding knob's top center using the right arm."
+  ],
+  "unseen": [
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Direct the right arm to click the blue bell with glossy finish's top."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001114.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the flat-topped bell at its top center on table.",
+    "Direct the left arm to touch the flat-topped bell's top.",
+    "Command the left arm to press the blue bell's top.",
+    "Have the left arm click at the flat-topped bell's top center.",
+    "Make the left arm interact with the blue dome-shaped bell's top center.",
+    "Activate the metal bell with plastic parts by pressing its top center.",
+    "Ask the left arm to interact with the bell with circular body's top.",
+    "Click the small blue and brown bell's <top center> using the left arm",
+    "Locate the round bell and click its top center.",
+    "Click the designated center of the blue bell.",
+    "Click the top center of the compact bell with round base on table.",
+    "Press the blue dome-shaped bell's top center on the table.",
+    "Push the flat-topped bell's <top center> on the table",
+    "Click the small blue and brown bell's top center using the left arm.",
+    "Tap the compact bell with round base's top center with the left arm.",
+    "Direct the left arm to click the top of the brown-bottomed bell.",
+    "Press down the bell with circular body's top center gently.",
+    "Use the left arm to press the blue bell's top section.",
+    "Use the left arm to touch the blue dome-shaped bell's top center.",
+    "Press the smooth blue bell's top center with the left arm firmly.",
+    "Tap the bell with protruding knob's top center with the left arm.",
+    "Press the top center of the blue bell on table.",
+    "Press the center top of the bell with circular body.",
+    "Push the center of the brown-bottomed bell using the left arm.",
+    "Pinpoint the compact bell with round base and click its top center.",
+    "Press down the top of the bell with circular body using the left arm.",
+    "Press the specified top area of the flat-topped bell.",
+    "Press the center of the round bell using the left arm.",
+    "Tap the top center of the compact bell with round base.",
+    "Click using the left arm on the metal bell with plastic parts's center.",
+    "Guide the left arm to click the flat-topped bell's top center.",
+    "Click the small blue and brown bell at its top center on table.",
+    "Direct the left arm to touch the small blue and brown bell's top.",
+    "Command the left arm to press the bell with protruding knob's top.",
+    "Have the left arm click at the brown-bottomed bell's top center.",
+    "Make the left arm interact with the bell with protruding knob's top center.",
+    "Activate the metal bell with plastic parts by pressing its top center.",
+    "Ask the left arm to interact with the blue dome-shaped bell's top.",
+    "Click the smooth blue bell's <top center> using the left arm",
+    "Locate the bell with circular body and click its top center.",
+    "Click the designated center of the blue bell.",
+    "Click the top center of the blue dome-shaped bell on table.",
+    "Press the compact bell with round base's top center on the table.",
+    "Push the compact bell with round base's <top center> on the table",
+    "Click the brown-bottomed bell's top center using the left arm.",
+    "Tap the bell with circular body's top center with the left arm.",
+    "Direct the left arm to click the top of the blue dome-shaped bell.",
+    "Press down the bell with brown base's top center gently.",
+    "Use the left arm to press the brown-bottomed bell's top section.",
+    "Use the left arm to touch the flat-topped bell's top center.",
+    "Press the smooth blue bell's top center with the left arm firmly.",
+    "Tap the smooth blue bell's top center with the left arm.",
+    "Press the top center of the small blue and brown bell on table.",
+    "Press the center top of the bell with protruding knob.",
+    "Push the center of the flat-topped bell using the left arm.",
+    "Pinpoint the flat-topped bell and click its top center.",
+    "Press down the top of the bell with protruding knob using the left arm.",
+    "Press the specified top area of the brown-bottomed bell.",
+    "Press the center of the brown-bottomed bell using the left arm.",
+    "Tap the top center of the bell with protruding knob.",
+    "Click using the left arm on the bell with circular body's center.",
+    "Guide the left arm to click the round bell's top center.",
+    "Click the flat-topped bell at its top center on table.",
+    "Direct the left arm to touch the bell with brown base's top.",
+    "Command the left arm to press the small blue and brown bell's top.",
+    "Have the left arm click at the bell with brown base's top center.",
+    "Make the left arm interact with the blue bell's top center.",
+    "Activate the round bell by pressing its top center.",
+    "Ask the left arm to interact with the bell with brown base's top.",
+    "Click the small blue and brown bell's <top center> using the left arm",
+    "Locate the small blue and brown bell and click its top center.",
+    "Click the designated center of the bell with protruding knob.",
+    "Click the top center of the bell with protruding knob on table.",
+    "Press the compact bell with round base's top center on the table.",
+    "Push the metal bell with plastic parts's <top center> on the table",
+    "Click the bell with circular body's top center using the left arm.",
+    "Tap the blue dome-shaped bell's top center with the left arm.",
+    "Direct the left arm to click the top of the bell with brown base.",
+    "Press down the small blue and brown bell's top center gently.",
+    "Use the left arm to press the bell with circular body's top section.",
+    "Use the left arm to touch the blue bell's top center.",
+    "Press the flat-topped bell's top center with the left arm firmly.",
+    "Tap the small blue and brown bell's top center with the left arm.",
+    "Press the top center of the bell with brown base on table.",
+    "Press the center top of the blue dome-shaped bell.",
+    "Push the center of the blue bell using the left arm.",
+    "Pinpoint the compact bell with round base and click its top center.",
+    "Press down the top of the bell with protruding knob using the left arm.",
+    "Press the specified top area of the flat-topped bell.",
+    "Press the center of the blue dome-shaped bell using the left arm.",
+    "Tap the top center of the smooth blue bell.",
+    "Click using the left arm on the compact bell with round base's center.",
+    "Guide the left arm to click the blue dome-shaped bell's top center.",
+    "Click the compact bell with round base at its top center on table.",
+    "Direct the left arm to touch the brown-bottomed bell's top.",
+    "Command the left arm to press the smooth blue bell's top.",
+    "Have the left arm click at the blue dome-shaped bell's top center.",
+    "Make the left arm interact with the small blue and brown bell's top center.",
+    "Activate the flat-topped bell by pressing its top center.",
+    "Ask the left arm to interact with the blue dome-shaped bell's top."
+  ],
+  "unseen": [
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the palm-sized bell and click its top center."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001117.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Direct the right arm to touch the simple hand bell with black stand's top.",
+    "Direct the right arm to click the top of the bell shaped like half-circle dome.",
+    "Click the white dome bell at its top center on table.",
+    "Click the top center of the white bell on table.",
+    "Tap the top center of the white dome bell.",
+    "Use the right arm to touch the simple hand bell with black stand's top center.",
+    "Push the bell shaped like half-circle dome's <top center> on the table",
+    "Make the right arm interact with the rounded bell with flat black part's top center.",
+    "Tap the white dome bell's top center with the right arm.",
+    "Press the specified top area of the rounded bell with flat black part.",
+    "Press the center of the bell with metallic top and plastic base using the right arm.",
+    "Click the bell with metallic top and plastic base's top center using the right arm.",
+    "Click the designated center of the simple hand bell with black stand.",
+    "Command the right arm to press the white dome bell's top.",
+    "Guide the right arm to click the rounded bell with flat black part's top center.",
+    "Use the right arm to press the plastic and metal bell's top section.",
+    "Locate the simple hand bell with black stand and click its top center.",
+    "Click the small desk bell for tapping's <top center> using the right arm",
+    "Press the center top of the white bell with black bottom.",
+    "Press down the top of the rounded bell with flat black part using the right arm.",
+    "Have the right arm click at the plastic and metal bell's top center.",
+    "Activate the white and black colored bell by pressing its top center.",
+    "Click using the right arm on the white bell with black bottom's center.",
+    "Press the plastic and metal bell's top center with the right arm firmly.",
+    "Tap the bell with metallic top and plastic base's top center with the right arm.",
+    "Pinpoint the white bell and click its top center.",
+    "Ask the right arm to interact with the white dome bell's top.",
+    "Press down the plastic and metal bell's top center gently.",
+    "Push the center of the bell with black flat base using the right arm.",
+    "Press the simple hand bell with black stand's top center on the table.",
+    "Press the top center of the simple hand bell with black stand on table.",
+    "Direct the right arm to touch the bell with black flat base's top.",
+    "Direct the right arm to click the top of the white dome bell.",
+    "Click the small desk bell for tapping at its top center on table.",
+    "Click the top center of the simple hand bell with black stand on table.",
+    "Tap the top center of the plastic and metal bell.",
+    "Use the right arm to touch the simple hand bell with black stand's top center.",
+    "Push the white bell with black bottom's <top center> on the table",
+    "Make the right arm interact with the compact tabletop bell's top center.",
+    "Tap the white bell's top center with the right arm.",
+    "Press the specified top area of the bell shaped like half-circle dome.",
+    "Press the center of the white bell with black bottom using the right arm.",
+    "Click the rounded bell with flat black part's top center using the right arm.",
+    "Click the designated center of the compact tabletop bell.",
+    "Command the right arm to press the small desk bell for tapping's top.",
+    "Guide the right arm to click the white and black colored bell's top center.",
+    "Use the right arm to press the compact tabletop bell's top section.",
+    "Locate the white bell and click its top center.",
+    "Click the plastic and metal bell's <top center> using the right arm",
+    "Press the center top of the bell with metallic top and plastic base.",
+    "Press down the top of the small desk bell for tapping using the right arm.",
+    "Have the right arm click at the bell shaped like half-circle dome's top center.",
+    "Activate the small desk bell for tapping by pressing its top center.",
+    "Click using the right arm on the white bell with black bottom's center.",
+    "Press the white and black colored bell's top center with the right arm firmly.",
+    "Tap the simple hand bell with black stand's top center with the right arm.",
+    "Pinpoint the small desk bell for tapping and click its top center.",
+    "Ask the right arm to interact with the simple hand bell with black stand's top.",
+    "Press down the bell with black flat base's top center gently.",
+    "Push the center of the white dome bell using the right arm.",
+    "Press the small desk bell for tapping's top center on the table.",
+    "Press the top center of the compact tabletop bell on table.",
+    "Direct the right arm to touch the bell shaped like half-circle dome's top.",
+    "Direct the right arm to click the top of the bell with metallic top and plastic base.",
+    "Click the bell with metallic top and plastic base at its top center on table.",
+    "Click the top center of the white dome bell on table.",
+    "Tap the top center of the white and black colored bell.",
+    "Use the right arm to touch the white dome bell's top center.",
+    "Push the white bell with black bottom's <top center> on the table",
+    "Make the right arm interact with the white dome bell's top center.",
+    "Tap the small desk bell for tapping's top center with the right arm.",
+    "Press the specified top area of the small desk bell for tapping.",
+    "Press the center of the white dome bell using the right arm.",
+    "Click the simple hand bell with black stand's top center using the right arm.",
+    "Click the designated center of the bell with black flat base.",
+    "Command the right arm to press the rounded bell with flat black part's top.",
+    "Guide the right arm to click the white bell's top center.",
+    "Use the right arm to press the bell shaped like half-circle dome's top section.",
+    "Locate the simple hand bell with black stand and click its top center.",
+    "Click the white and black colored bell's <top center> using the right arm",
+    "Press the center top of the simple hand bell with black stand.",
+    "Press down the top of the white bell with black bottom using the right arm.",
+    "Have the right arm click at the bell with black flat base's top center.",
+    "Activate the white dome bell by pressing its top center.",
+    "Click using the right arm on the bell shaped like half-circle dome's center.",
+    "Press the bell with metallic top and plastic base's top center with the right arm firmly.",
+    "Tap the simple hand bell with black stand's top center with the right arm.",
+    "Pinpoint the bell with black flat base and click its top center.",
+    "Ask the right arm to interact with the rounded bell with flat black part's top.",
+    "Press down the white dome bell's top center gently.",
+    "Push the center of the simple hand bell with black stand using the right arm.",
+    "Press the simple hand bell with black stand's top center on the table.",
+    "Press the top center of the plastic and metal bell on table.",
+    "Direct the right arm to touch the small desk bell for tapping's top.",
+    "Direct the right arm to click the top of the bell with metallic top and plastic base.",
+    "Click the white bell with black bottom at its top center on table.",
+    "Click the top center of the white and black colored bell on table.",
+    "Tap the top center of the plastic and metal bell.",
+    "Use the right arm to touch the small desk bell for tapping's top center.",
+    "Push the simple hand bell with black stand's <top center> on the table"
+  ],
+  "unseen": [
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the medium-sized bell's top center."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001127.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the specified top area of the bell with metallic top and plastic base.",
+    "Pinpoint the white dome bell and click its top center.",
+    "Click the bell with black flat base at its top center on table.",
+    "Use the right arm to press the rounded bell with flat black part's top section.",
+    "Use the right arm to touch the plastic and metal bell's top center.",
+    "Press down the bell with black flat base's top center gently.",
+    "Tap the plastic and metal bell's top center with the right arm.",
+    "Ask the right arm to interact with the small desk bell for tapping's top.",
+    "Push the white and black colored bell's <top center> on the table",
+    "Press the top center of the white bell on table.",
+    "Direct the right arm to click the top of the small desk bell for tapping.",
+    "Press the center of the bell with black flat base using the right arm.",
+    "Locate the plastic and metal bell and click its top center.",
+    "Click the bell with black flat base's top center using the right arm.",
+    "Direct the right arm to touch the small desk bell for tapping's top.",
+    "Push the center of the white and black colored bell using the right arm.",
+    "Activate the rounded bell with flat black part by pressing its top center.",
+    "Click the top center of the compact tabletop bell on table.",
+    "Have the right arm click at the rounded bell with flat black part's top center.",
+    "Press down the top of the white and black colored bell using the right arm.",
+    "Command the right arm to press the bell with black flat base's top.",
+    "Guide the right arm to click the white dome bell's top center.",
+    "Tap the top center of the white bell.",
+    "Make the right arm interact with the bell with metallic top and plastic base's top center.",
+    "Click using the right arm on the white bell's center.",
+    "Click the designated center of the plastic and metal bell.",
+    "Tap the white dome bell's top center with the right arm.",
+    "Press the center top of the bell shaped like half-circle dome.",
+    "Press the white dome bell's top center with the right arm firmly.",
+    "Press the simple hand bell with black stand's top center on the table.",
+    "Click the white and black colored bell's <top center> using the right arm",
+    "Press the specified top area of the white bell.",
+    "Pinpoint the simple hand bell with black stand and click its top center.",
+    "Click the white dome bell at its top center on table.",
+    "Use the right arm to press the white dome bell's top section.",
+    "Use the right arm to touch the white dome bell's top center.",
+    "Press down the bell with black flat base's top center gently.",
+    "Tap the white and black colored bell's top center with the right arm.",
+    "Ask the right arm to interact with the white bell's top.",
+    "Push the small desk bell for tapping's <top center> on the table",
+    "Press the top center of the plastic and metal bell on table.",
+    "Direct the right arm to click the top of the white bell with black bottom.",
+    "Press the center of the simple hand bell with black stand using the right arm.",
+    "Locate the plastic and metal bell and click its top center.",
+    "Click the plastic and metal bell's top center using the right arm.",
+    "Direct the right arm to touch the compact tabletop bell's top.",
+    "Push the center of the white and black colored bell using the right arm.",
+    "Activate the compact tabletop bell by pressing its top center.",
+    "Click the top center of the bell with black flat base on table.",
+    "Have the right arm click at the white bell's top center.",
+    "Press down the top of the plastic and metal bell using the right arm.",
+    "Command the right arm to press the simple hand bell with black stand's top.",
+    "Guide the right arm to click the compact tabletop bell's top center.",
+    "Tap the top center of the white and black colored bell.",
+    "Make the right arm interact with the small desk bell for tapping's top center.",
+    "Click using the right arm on the plastic and metal bell's center.",
+    "Click the designated center of the white dome bell.",
+    "Tap the white bell's top center with the right arm.",
+    "Press the center top of the plastic and metal bell.",
+    "Press the white dome bell's top center with the right arm firmly.",
+    "Press the bell with metallic top and plastic base's top center on the table.",
+    "Click the bell with metallic top and plastic base's <top center> using the right arm",
+    "Press the specified top area of the white and black colored bell.",
+    "Pinpoint the white and black colored bell and click its top center.",
+    "Click the bell shaped like half-circle dome at its top center on table.",
+    "Use the right arm to press the white and black colored bell's top section.",
+    "Use the right arm to touch the bell shaped like half-circle dome's top center.",
+    "Press down the white dome bell's top center gently.",
+    "Tap the small desk bell for tapping's top center with the right arm.",
+    "Ask the right arm to interact with the compact tabletop bell's top.",
+    "Push the bell with metallic top and plastic base's <top center> on the table",
+    "Press the top center of the white and black colored bell on table.",
+    "Direct the right arm to click the top of the bell shaped like half-circle dome.",
+    "Press the center of the compact tabletop bell using the right arm.",
+    "Locate the rounded bell with flat black part and click its top center.",
+    "Click the compact tabletop bell's top center using the right arm.",
+    "Direct the right arm to touch the white bell with black bottom's top.",
+    "Push the center of the plastic and metal bell using the right arm.",
+    "Activate the plastic and metal bell by pressing its top center.",
+    "Click the top center of the white bell with black bottom on table.",
+    "Have the right arm click at the white dome bell's top center.",
+    "Press down the top of the plastic and metal bell using the right arm.",
+    "Command the right arm to press the white bell's top.",
+    "Guide the right arm to click the white dome bell's top center.",
+    "Tap the top center of the compact tabletop bell.",
+    "Make the right arm interact with the bell shaped like half-circle dome's top center.",
+    "Click using the right arm on the bell shaped like half-circle dome's center.",
+    "Click the designated center of the compact tabletop bell.",
+    "Tap the white and black colored bell's top center with the right arm.",
+    "Press the center top of the simple hand bell with black stand.",
+    "Press the bell shaped like half-circle dome's top center with the right arm firmly.",
+    "Press the small desk bell for tapping's top center on the table.",
+    "Click the white and black colored bell's <top center> using the right arm",
+    "Press the specified top area of the white dome bell.",
+    "Pinpoint the white bell with black bottom and click its top center.",
+    "Click the white bell at its top center on table.",
+    "Use the right arm to press the white dome bell's top section.",
+    "Use the right arm to touch the white bell with black bottom's top center.",
+    "Press down the bell shaped like half-circle dome's top center gently.",
+    "Tap the bell shaped like half-circle dome's top center with the right arm."
+  ],
+  "unseen": [
+    "Find the medium-sized bell and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the right arm to press the smooth metal bell's top center."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001128.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the top center of the bell with protruding knob on table.",
+    "Pinpoint the small blue and brown bell and click its top center.",
+    "Command the right arm to press the bell with circular body's top.",
+    "Press down the top of the bell with circular body using the right arm.",
+    "Click the designated center of the round bell.",
+    "Push the center of the bell with brown base using the right arm.",
+    "Locate the flat-topped bell and click its top center.",
+    "Press the specified top area of the blue bell.",
+    "Direct the right arm to click the top of the blue dome-shaped bell.",
+    "Press the center of the bell with protruding knob using the right arm.",
+    "Ask the right arm to interact with the brown-bottomed bell's top.",
+    "Press the bell with protruding knob's top center with the right arm firmly.",
+    "Activate the blue bell by pressing its top center.",
+    "Tap the small blue and brown bell's top center with the right arm.",
+    "Have the right arm click at the metal bell with plastic parts's top center.",
+    "Press the center top of the bell with protruding knob.",
+    "Make the right arm interact with the smooth blue bell's top center.",
+    "Click the bell with brown base at its top center on table.",
+    "Press the blue dome-shaped bell's top center on the table.",
+    "Use the right arm to press the blue dome-shaped bell's top section.",
+    "Tap the top center of the bell with protruding knob.",
+    "Press the top center of the bell with brown base on table.",
+    "Click the compact bell with round base's top center using the right arm.",
+    "Press down the flat-topped bell's top center gently.",
+    "Use the right arm to touch the flat-topped bell's top center.",
+    "Push the small blue and brown bell's <top center> on the table",
+    "Guide the right arm to click the flat-topped bell's top center.",
+    "Click using the right arm on the flat-topped bell's center.",
+    "Direct the right arm to touch the brown-bottomed bell's top.",
+    "Tap the small blue and brown bell's top center with the right arm.",
+    "Click the small blue and brown bell's <top center> using the right arm",
+    "Click the top center of the round bell on table.",
+    "Pinpoint the blue dome-shaped bell and click its top center.",
+    "Command the right arm to press the bell with brown base's top.",
+    "Press down the top of the bell with circular body using the right arm.",
+    "Click the designated center of the brown-bottomed bell.",
+    "Push the center of the round bell using the right arm.",
+    "Locate the round bell and click its top center.",
+    "Press the specified top area of the smooth blue bell.",
+    "Direct the right arm to click the top of the brown-bottomed bell.",
+    "Press the center of the flat-topped bell using the right arm.",
+    "Ask the right arm to interact with the blue dome-shaped bell's top.",
+    "Press the smooth blue bell's top center with the right arm firmly.",
+    "Activate the compact bell with round base by pressing its top center.",
+    "Tap the blue bell's top center with the right arm.",
+    "Have the right arm click at the flat-topped bell's top center.",
+    "Press the center top of the smooth blue bell.",
+    "Make the right arm interact with the brown-bottomed bell's top center.",
+    "Click the flat-topped bell at its top center on table.",
+    "Press the bell with protruding knob's top center on the table.",
+    "Use the right arm to press the flat-topped bell's top section.",
+    "Tap the top center of the blue dome-shaped bell.",
+    "Press the top center of the smooth blue bell on table.",
+    "Click the metal bell with plastic parts's top center using the right arm.",
+    "Press down the small blue and brown bell's top center gently.",
+    "Use the right arm to touch the round bell's top center.",
+    "Push the smooth blue bell's <top center> on the table",
+    "Guide the right arm to click the smooth blue bell's top center.",
+    "Click using the right arm on the blue dome-shaped bell's center.",
+    "Direct the right arm to touch the smooth blue bell's top.",
+    "Tap the brown-bottomed bell's top center with the right arm.",
+    "Click the bell with brown base's <top center> using the right arm",
+    "Click the top center of the bell with protruding knob on table.",
+    "Pinpoint the brown-bottomed bell and click its top center.",
+    "Command the right arm to press the round bell's top.",
+    "Press down the top of the metal bell with plastic parts using the right arm.",
+    "Click the designated center of the blue dome-shaped bell.",
+    "Push the center of the bell with circular body using the right arm.",
+    "Locate the blue bell and click its top center.",
+    "Press the specified top area of the bell with protruding knob.",
+    "Direct the right arm to click the top of the bell with circular body.",
+    "Press the center of the compact bell with round base using the right arm.",
+    "Ask the right arm to interact with the smooth blue bell's top.",
+    "Press the smooth blue bell's top center with the right arm firmly.",
+    "Activate the metal bell with plastic parts by pressing its top center.",
+    "Tap the compact bell with round base's top center with the right arm.",
+    "Have the right arm click at the flat-topped bell's top center.",
+    "Press the center top of the compact bell with round base.",
+    "Make the right arm interact with the small blue and brown bell's top center.",
+    "Click the small blue and brown bell at its top center on table.",
+    "Press the compact bell with round base's top center on the table.",
+    "Use the right arm to press the small blue and brown bell's top section.",
+    "Tap the top center of the bell with brown base.",
+    "Press the top center of the bell with circular body on table.",
+    "Click the blue bell's top center using the right arm.",
+    "Press down the blue bell's top center gently.",
+    "Use the right arm to touch the metal bell with plastic parts's top center.",
+    "Push the flat-topped bell's <top center> on the table",
+    "Guide the right arm to click the brown-bottomed bell's top center.",
+    "Click using the right arm on the round bell's center.",
+    "Direct the right arm to touch the round bell's top.",
+    "Tap the bell with circular body's top center with the right arm.",
+    "Click the flat-topped bell's <top center> using the right arm",
+    "Click the top center of the bell with protruding knob on table.",
+    "Pinpoint the blue bell and click its top center.",
+    "Command the right arm to press the flat-topped bell's top.",
+    "Press down the top of the blue dome-shaped bell using the right arm.",
+    "Click the designated center of the round bell.",
+    "Push the center of the bell with protruding knob using the right arm.",
+    "Locate the metal bell with plastic parts and click its top center."
+  ],
+  "unseen": [
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the bell with raised round top and click its top center."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001131.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press down the top of the rounded bell with flat black part using the left arm.",
+    "Use the left arm to touch the bell with metallic top and plastic base's top center.",
+    "Ask the left arm to interact with the bell shaped like half-circle dome's top.",
+    "Click the top center of the white and black colored bell on table.",
+    "Press the bell shaped like half-circle dome's top center on the table.",
+    "Tap the top center of the white dome bell.",
+    "Click the designated center of the bell shaped like half-circle dome.",
+    "Click the bell with metallic top and plastic base at its top center on table.",
+    "Tap the white dome bell's top center with the left arm.",
+    "Press down the bell with black flat base's top center gently.",
+    "Click using the left arm on the rounded bell with flat black part's center.",
+    "Guide the left arm to click the white and black colored bell's top center.",
+    "Click the bell shaped like half-circle dome's top center using the left arm.",
+    "Pinpoint the white bell and click its top center.",
+    "Click the compact tabletop bell's <top center> using the left arm",
+    "Locate the white bell and click its top center.",
+    "Push the center of the compact tabletop bell using the left arm.",
+    "Direct the left arm to touch the plastic and metal bell's top.",
+    "Activate the compact tabletop bell by pressing its top center.",
+    "Press the center top of the simple hand bell with black stand.",
+    "Press the top center of the white and black colored bell on table.",
+    "Direct the left arm to click the top of the white and black colored bell.",
+    "Tap the white and black colored bell's top center with the left arm.",
+    "Make the left arm interact with the simple hand bell with black stand's top center.",
+    "Use the left arm to press the bell shaped like half-circle dome's top section.",
+    "Press the specified top area of the white and black colored bell.",
+    "Command the left arm to press the bell shaped like half-circle dome's top.",
+    "Push the white dome bell's <top center> on the table",
+    "Have the left arm click at the compact tabletop bell's top center.",
+    "Press the center of the simple hand bell with black stand using the left arm.",
+    "Press the simple hand bell with black stand's top center with the left arm firmly.",
+    "Press down the top of the bell with black flat base using the left arm.",
+    "Use the left arm to touch the bell with black flat base's top center.",
+    "Ask the left arm to interact with the plastic and metal bell's top.",
+    "Click the top center of the plastic and metal bell on table.",
+    "Press the small desk bell for tapping's top center on the table.",
+    "Tap the top center of the white dome bell.",
+    "Click the designated center of the plastic and metal bell.",
+    "Click the white dome bell at its top center on table.",
+    "Tap the white dome bell's top center with the left arm.",
+    "Press down the white and black colored bell's top center gently.",
+    "Click using the left arm on the small desk bell for tapping's center.",
+    "Guide the left arm to click the white and black colored bell's top center.",
+    "Click the rounded bell with flat black part's top center using the left arm.",
+    "Pinpoint the white bell and click its top center.",
+    "Click the white bell with black bottom's <top center> using the left arm",
+    "Locate the white and black colored bell and click its top center.",
+    "Push the center of the compact tabletop bell using the left arm.",
+    "Direct the left arm to touch the bell with metallic top and plastic base's top.",
+    "Activate the bell with metallic top and plastic base by pressing its top center.",
+    "Press the center top of the white bell.",
+    "Press the top center of the small desk bell for tapping on table.",
+    "Direct the left arm to click the top of the simple hand bell with black stand.",
+    "Tap the plastic and metal bell's top center with the left arm.",
+    "Make the left arm interact with the compact tabletop bell's top center.",
+    "Use the left arm to press the white bell with black bottom's top section.",
+    "Press the specified top area of the compact tabletop bell.",
+    "Command the left arm to press the bell shaped like half-circle dome's top.",
+    "Push the rounded bell with flat black part's <top center> on the table",
+    "Have the left arm click at the white and black colored bell's top center.",
+    "Press the center of the plastic and metal bell using the left arm.",
+    "Press the small desk bell for tapping's top center with the left arm firmly.",
+    "Press down the top of the white dome bell using the left arm.",
+    "Use the left arm to touch the white and black colored bell's top center.",
+    "Ask the left arm to interact with the small desk bell for tapping's top.",
+    "Click the top center of the white bell on table.",
+    "Press the bell with metallic top and plastic base's top center on the table.",
+    "Tap the top center of the compact tabletop bell.",
+    "Click the designated center of the white and black colored bell.",
+    "Click the rounded bell with flat black part at its top center on table.",
+    "Tap the bell shaped like half-circle dome's top center with the left arm.",
+    "Press down the white bell with black bottom's top center gently.",
+    "Click using the left arm on the bell with black flat base's center.",
+    "Guide the left arm to click the white and black colored bell's top center.",
+    "Click the white dome bell's top center using the left arm.",
+    "Pinpoint the bell with black flat base and click its top center.",
+    "Click the white bell with black bottom's <top center> using the left arm",
+    "Locate the bell shaped like half-circle dome and click its top center.",
+    "Push the center of the white bell with black bottom using the left arm.",
+    "Direct the left arm to touch the white and black colored bell's top.",
+    "Activate the white dome bell by pressing its top center.",
+    "Press the center top of the white bell.",
+    "Press the top center of the bell with metallic top and plastic base on table.",
+    "Direct the left arm to click the top of the white and black colored bell.",
+    "Tap the bell shaped like half-circle dome's top center with the left arm.",
+    "Make the left arm interact with the small desk bell for tapping's top center.",
+    "Use the left arm to press the white bell's top section.",
+    "Press the specified top area of the simple hand bell with black stand.",
+    "Command the left arm to press the small desk bell for tapping's top.",
+    "Push the white bell with black bottom's <top center> on the table",
+    "Have the left arm click at the white bell with black bottom's top center.",
+    "Press the center of the simple hand bell with black stand using the left arm.",
+    "Press the compact tabletop bell's top center with the left arm firmly.",
+    "Press down the top of the white bell with black bottom using the left arm.",
+    "Use the left arm to touch the white bell with black bottom's top center.",
+    "Ask the left arm to interact with the rounded bell with flat black part's top.",
+    "Click the top center of the bell with metallic top and plastic base on table.",
+    "Press the rounded bell with flat black part's top center on the table.",
+    "Tap the top center of the plastic and metal bell.",
+    "Click the designated center of the compact tabletop bell."
+  ],
+  "unseen": [
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001132.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Make the left arm interact with the plastic and metal bell's top center.",
+    "Use the left arm to touch the white dome bell's top center.",
+    "Command the left arm to press the compact tabletop bell's top.",
+    "Press the white bell with black bottom's top center with the left arm firmly.",
+    "Direct the left arm to touch the bell with black flat base's top.",
+    "Push the bell shaped like half-circle dome's <top center> on the table",
+    "Push the center of the bell with black flat base using the left arm.",
+    "Press the center of the simple hand bell with black stand using the left arm.",
+    "Tap the simple hand bell with black stand's top center with the left arm.",
+    "Ask the left arm to interact with the bell with metallic top and plastic base's top.",
+    "Locate the white and black colored bell and click its top center.",
+    "Click the white dome bell's top center using the left arm.",
+    "Pinpoint the white bell with black bottom and click its top center.",
+    "Press down the plastic and metal bell's top center gently.",
+    "Use the left arm to press the white bell's top section.",
+    "Direct the left arm to click the top of the white bell with black bottom.",
+    "Press the specified top area of the simple hand bell with black stand.",
+    "Click the top center of the small desk bell for tapping on table.",
+    "Press the rounded bell with flat black part's top center on the table.",
+    "Click the designated center of the bell with black flat base.",
+    "Click the bell shaped like half-circle dome's <top center> using the left arm",
+    "Tap the white bell with black bottom's top center with the left arm.",
+    "Guide the left arm to click the small desk bell for tapping's top center.",
+    "Click the compact tabletop bell at its top center on table.",
+    "Press the top center of the bell with metallic top and plastic base on table.",
+    "Press the center top of the bell with metallic top and plastic base.",
+    "Activate the small desk bell for tapping by pressing its top center.",
+    "Click using the left arm on the bell with black flat base's center.",
+    "Press down the top of the white bell using the left arm.",
+    "Tap the top center of the white bell with black bottom.",
+    "Have the left arm click at the rounded bell with flat black part's top center.",
+    "Make the left arm interact with the bell with metallic top and plastic base's top center.",
+    "Use the left arm to touch the white dome bell's top center.",
+    "Command the left arm to press the bell with metallic top and plastic base's top.",
+    "Press the white bell's top center with the left arm firmly.",
+    "Direct the left arm to touch the white dome bell's top.",
+    "Push the plastic and metal bell's <top center> on the table",
+    "Push the center of the bell with black flat base using the left arm.",
+    "Press the center of the white dome bell using the left arm.",
+    "Tap the bell with metallic top and plastic base's top center with the left arm.",
+    "Ask the left arm to interact with the simple hand bell with black stand's top.",
+    "Locate the bell shaped like half-circle dome and click its top center.",
+    "Click the plastic and metal bell's top center using the left arm.",
+    "Pinpoint the white and black colored bell and click its top center.",
+    "Press down the bell with black flat base's top center gently.",
+    "Use the left arm to press the white and black colored bell's top section.",
+    "Direct the left arm to click the top of the small desk bell for tapping.",
+    "Press the specified top area of the white dome bell.",
+    "Click the top center of the white and black colored bell on table.",
+    "Press the bell shaped like half-circle dome's top center on the table.",
+    "Click the designated center of the rounded bell with flat black part.",
+    "Click the white bell with black bottom's <top center> using the left arm",
+    "Tap the white and black colored bell's top center with the left arm.",
+    "Guide the left arm to click the bell shaped like half-circle dome's top center.",
+    "Click the small desk bell for tapping at its top center on table.",
+    "Press the top center of the bell shaped like half-circle dome on table.",
+    "Press the center top of the bell with black flat base.",
+    "Activate the rounded bell with flat black part by pressing its top center.",
+    "Click using the left arm on the rounded bell with flat black part's center.",
+    "Press down the top of the rounded bell with flat black part using the left arm.",
+    "Tap the top center of the white and black colored bell.",
+    "Have the left arm click at the simple hand bell with black stand's top center.",
+    "Make the left arm interact with the bell with black flat base's top center.",
+    "Use the left arm to touch the small desk bell for tapping's top center.",
+    "Command the left arm to press the bell with black flat base's top.",
+    "Press the small desk bell for tapping's top center with the left arm firmly.",
+    "Direct the left arm to touch the white bell with black bottom's top.",
+    "Push the white bell with black bottom's <top center> on the table",
+    "Push the center of the white dome bell using the left arm.",
+    "Press the center of the white bell with black bottom using the left arm.",
+    "Tap the compact tabletop bell's top center with the left arm.",
+    "Ask the left arm to interact with the white dome bell's top.",
+    "Locate the white and black colored bell and click its top center.",
+    "Click the white bell with black bottom's top center using the left arm.",
+    "Pinpoint the bell with black flat base and click its top center.",
+    "Press down the bell shaped like half-circle dome's top center gently.",
+    "Use the left arm to press the compact tabletop bell's top section.",
+    "Direct the left arm to click the top of the bell with metallic top and plastic base.",
+    "Press the specified top area of the white and black colored bell.",
+    "Click the top center of the bell with metallic top and plastic base on table.",
+    "Press the compact tabletop bell's top center on the table.",
+    "Click the designated center of the white bell.",
+    "Click the simple hand bell with black stand's <top center> using the left arm",
+    "Tap the plastic and metal bell's top center with the left arm.",
+    "Guide the left arm to click the compact tabletop bell's top center.",
+    "Click the small desk bell for tapping at its top center on table.",
+    "Press the top center of the small desk bell for tapping on table.",
+    "Press the center top of the small desk bell for tapping.",
+    "Activate the white dome bell by pressing its top center.",
+    "Click using the left arm on the small desk bell for tapping's center.",
+    "Press down the top of the bell with metallic top and plastic base using the left arm.",
+    "Tap the top center of the simple hand bell with black stand.",
+    "Have the left arm click at the bell with metallic top and plastic base's top center.",
+    "Make the left arm interact with the white dome bell's top center.",
+    "Use the left arm to touch the white dome bell's top center.",
+    "Command the left arm to press the rounded bell with flat black part's top.",
+    "Press the white bell's top center with the left arm firmly.",
+    "Direct the left arm to touch the rounded bell with flat black part's top.",
+    "Push the white dome bell's <top center> on the table",
+    "Push the center of the white bell with black bottom using the left arm."
+  ],
+  "unseen": [
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the medium-sized bell's top center."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001135.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pinpoint the round bell and click its top center.",
+    "Press the center top of the smooth blue bell.",
+    "Command the right arm to press the bell with circular body's top.",
+    "Use the right arm to press the small blue and brown bell's top section.",
+    "Direct the right arm to touch the smooth blue bell's top.",
+    "Push the center of the brown-bottomed bell using the right arm.",
+    "Press the center of the blue dome-shaped bell using the right arm.",
+    "Press the specified top area of the flat-topped bell.",
+    "Ask the right arm to interact with the bell with circular body's top.",
+    "Activate the bell with circular body by pressing its top center.",
+    "Click the compact bell with round base at its top center on table.",
+    "Press the bell with protruding knob's top center with the right arm firmly.",
+    "Press down the compact bell with round base's top center gently.",
+    "Guide the right arm to click the round bell's top center.",
+    "Press the bell with protruding knob's top center on the table.",
+    "Have the right arm click at the blue bell's top center.",
+    "Direct the right arm to click the top of the bell with protruding knob.",
+    "Click the designated center of the round bell.",
+    "Tap the metal bell with plastic parts's top center with the right arm.",
+    "Press down the top of the blue bell using the right arm.",
+    "Tap the flat-topped bell's top center with the right arm.",
+    "Click the compact bell with round base's top center using the right arm.",
+    "Push the round bell's <top center> on the table",
+    "Press the top center of the blue bell on table.",
+    "Locate the blue bell and click its top center.",
+    "Click the blue bell's <top center> using the right arm",
+    "Tap the top center of the metal bell with plastic parts.",
+    "Use the right arm to touch the round bell's top center.",
+    "Make the right arm interact with the round bell's top center.",
+    "Click using the right arm on the small blue and brown bell's center.",
+    "Click the top center of the brown-bottomed bell on table.",
+    "Pinpoint the bell with circular body and click its top center.",
+    "Press the center top of the bell with circular body.",
+    "Command the right arm to press the smooth blue bell's top.",
+    "Use the right arm to press the bell with circular body's top section.",
+    "Direct the right arm to touch the small blue and brown bell's top.",
+    "Push the center of the compact bell with round base using the right arm.",
+    "Press the center of the brown-bottomed bell using the right arm.",
+    "Press the specified top area of the flat-topped bell.",
+    "Ask the right arm to interact with the round bell's top.",
+    "Activate the flat-topped bell by pressing its top center.",
+    "Click the bell with protruding knob at its top center on table.",
+    "Press the metal bell with plastic parts's top center with the right arm firmly.",
+    "Press down the metal bell with plastic parts's top center gently.",
+    "Guide the right arm to click the bell with brown base's top center.",
+    "Press the metal bell with plastic parts's top center on the table.",
+    "Have the right arm click at the bell with protruding knob's top center.",
+    "Direct the right arm to click the top of the compact bell with round base.",
+    "Click the designated center of the bell with protruding knob.",
+    "Tap the round bell's top center with the right arm.",
+    "Press down the top of the metal bell with plastic parts using the right arm.",
+    "Tap the blue dome-shaped bell's top center with the right arm.",
+    "Click the blue dome-shaped bell's top center using the right arm.",
+    "Push the bell with protruding knob's <top center> on the table",
+    "Press the top center of the bell with circular body on table.",
+    "Locate the small blue and brown bell and click its top center.",
+    "Click the bell with circular body's <top center> using the right arm",
+    "Tap the top center of the smooth blue bell.",
+    "Use the right arm to touch the flat-topped bell's top center.",
+    "Make the right arm interact with the bell with brown base's top center.",
+    "Click using the right arm on the blue bell's center.",
+    "Click the top center of the metal bell with plastic parts on table.",
+    "Pinpoint the flat-topped bell and click its top center.",
+    "Press the center top of the small blue and brown bell.",
+    "Command the right arm to press the blue bell's top.",
+    "Use the right arm to press the smooth blue bell's top section.",
+    "Direct the right arm to touch the metal bell with plastic parts's top.",
+    "Push the center of the smooth blue bell using the right arm.",
+    "Press the center of the bell with protruding knob using the right arm.",
+    "Press the specified top area of the small blue and brown bell.",
+    "Ask the right arm to interact with the bell with protruding knob's top.",
+    "Activate the round bell by pressing its top center.",
+    "Click the bell with circular body at its top center on table.",
+    "Press the small blue and brown bell's top center with the right arm firmly.",
+    "Press down the flat-topped bell's top center gently.",
+    "Guide the right arm to click the small blue and brown bell's top center.",
+    "Press the bell with brown base's top center on the table.",
+    "Have the right arm click at the small blue and brown bell's top center.",
+    "Direct the right arm to click the top of the flat-topped bell.",
+    "Click the designated center of the metal bell with plastic parts.",
+    "Tap the small blue and brown bell's top center with the right arm.",
+    "Press down the top of the metal bell with plastic parts using the right arm.",
+    "Tap the blue bell's top center with the right arm.",
+    "Click the bell with protruding knob's top center using the right arm.",
+    "Push the smooth blue bell's <top center> on the table",
+    "Press the top center of the flat-topped bell on table.",
+    "Locate the blue bell and click its top center.",
+    "Click the bell with protruding knob's <top center> using the right arm",
+    "Tap the top center of the metal bell with plastic parts.",
+    "Use the right arm to touch the round bell's top center.",
+    "Make the right arm interact with the round bell's top center.",
+    "Click using the right arm on the compact bell with round base's center.",
+    "Click the top center of the metal bell with plastic parts on table.",
+    "Pinpoint the small blue and brown bell and click its top center.",
+    "Press the center top of the metal bell with plastic parts.",
+    "Command the right arm to press the bell with brown base's top.",
+    "Use the right arm to press the blue bell's top section.",
+    "Direct the right arm to touch the bell with circular body's top.",
+    "Push the center of the round bell using the right arm.",
+    "Press the center of the small blue and brown bell using the right arm."
+  ],
+  "unseen": [
+    "Find the palm-sized bell and click its top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the palm-sized bell's top center on the table."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001148.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pinpoint the rounded bell with flat black part and click its top center.",
+    "Use the left arm to press the white bell with black bottom's top section.",
+    "Tap the bell with metallic top and plastic base's top center with the left arm.",
+    "Press down the white bell with black bottom's top center gently.",
+    "Press the bell shaped like half-circle dome's top center on the table.",
+    "Click the white bell with black bottom's <top center> using the left arm",
+    "Click the designated center of the plastic and metal bell.",
+    "Use the left arm to touch the bell with black flat base's top center.",
+    "Activate the white dome bell by pressing its top center.",
+    "Guide the left arm to click the white and black colored bell's top center.",
+    "Command the left arm to press the white bell's top.",
+    "Push the bell with metallic top and plastic base's <top center> on the table",
+    "Press the top center of the simple hand bell with black stand on table.",
+    "Click using the left arm on the bell shaped like half-circle dome's center.",
+    "Press the center of the rounded bell with flat black part using the left arm.",
+    "Direct the left arm to click the top of the white dome bell.",
+    "Click the top center of the simple hand bell with black stand on table.",
+    "Direct the left arm to touch the rounded bell with flat black part's top.",
+    "Have the left arm click at the white and black colored bell's top center.",
+    "Tap the small desk bell for tapping's top center with the left arm.",
+    "Press the specified top area of the small desk bell for tapping.",
+    "Click the simple hand bell with black stand at its top center on table.",
+    "Ask the left arm to interact with the white bell's top.",
+    "Click the compact tabletop bell's top center using the left arm.",
+    "Tap the top center of the compact tabletop bell.",
+    "Push the center of the small desk bell for tapping using the left arm.",
+    "Press down the top of the rounded bell with flat black part using the left arm.",
+    "Make the left arm interact with the white bell with black bottom's top center.",
+    "Locate the plastic and metal bell and click its top center.",
+    "Press the center top of the plastic and metal bell.",
+    "Press the bell with metallic top and plastic base's top center with the left arm firmly.",
+    "Pinpoint the white bell and click its top center.",
+    "Use the left arm to press the white bell's top section.",
+    "Tap the rounded bell with flat black part's top center with the left arm.",
+    "Press down the white bell with black bottom's top center gently.",
+    "Press the simple hand bell with black stand's top center on the table.",
+    "Click the plastic and metal bell's <top center> using the left arm",
+    "Click the designated center of the white dome bell.",
+    "Use the left arm to touch the bell with black flat base's top center.",
+    "Activate the white bell with black bottom by pressing its top center.",
+    "Guide the left arm to click the bell with black flat base's top center.",
+    "Command the left arm to press the small desk bell for tapping's top.",
+    "Push the bell with black flat base's <top center> on the table",
+    "Press the top center of the small desk bell for tapping on table.",
+    "Click using the left arm on the simple hand bell with black stand's center.",
+    "Press the center of the bell with metallic top and plastic base using the left arm.",
+    "Direct the left arm to click the top of the plastic and metal bell.",
+    "Click the top center of the bell shaped like half-circle dome on table.",
+    "Direct the left arm to touch the bell shaped like half-circle dome's top.",
+    "Have the left arm click at the white bell's top center.",
+    "Tap the bell shaped like half-circle dome's top center with the left arm.",
+    "Press the specified top area of the rounded bell with flat black part.",
+    "Click the white bell at its top center on table.",
+    "Ask the left arm to interact with the simple hand bell with black stand's top.",
+    "Click the white and black colored bell's top center using the left arm.",
+    "Tap the top center of the compact tabletop bell.",
+    "Push the center of the plastic and metal bell using the left arm.",
+    "Press down the top of the small desk bell for tapping using the left arm.",
+    "Make the left arm interact with the rounded bell with flat black part's top center.",
+    "Locate the white and black colored bell and click its top center.",
+    "Press the center top of the bell shaped like half-circle dome.",
+    "Press the small desk bell for tapping's top center with the left arm firmly.",
+    "Pinpoint the bell with black flat base and click its top center.",
+    "Use the left arm to press the white and black colored bell's top section.",
+    "Tap the compact tabletop bell's top center with the left arm.",
+    "Press down the bell with black flat base's top center gently.",
+    "Press the small desk bell for tapping's top center on the table.",
+    "Click the plastic and metal bell's <top center> using the left arm",
+    "Click the designated center of the white bell with black bottom.",
+    "Use the left arm to touch the white and black colored bell's top center.",
+    "Activate the white dome bell by pressing its top center.",
+    "Guide the left arm to click the white dome bell's top center.",
+    "Command the left arm to press the white bell with black bottom's top.",
+    "Push the plastic and metal bell's <top center> on the table",
+    "Press the top center of the white dome bell on table.",
+    "Click using the left arm on the bell with black flat base's center.",
+    "Press the center of the white bell using the left arm.",
+    "Direct the left arm to click the top of the rounded bell with flat black part.",
+    "Click the top center of the white and black colored bell on table.",
+    "Direct the left arm to touch the rounded bell with flat black part's top.",
+    "Have the left arm click at the white and black colored bell's top center.",
+    "Tap the small desk bell for tapping's top center with the left arm.",
+    "Press the specified top area of the white bell.",
+    "Click the small desk bell for tapping at its top center on table.",
+    "Ask the left arm to interact with the white and black colored bell's top.",
+    "Click the compact tabletop bell's top center using the left arm.",
+    "Tap the top center of the rounded bell with flat black part.",
+    "Push the center of the white bell with black bottom using the left arm.",
+    "Press down the top of the bell with black flat base using the left arm.",
+    "Make the left arm interact with the white bell with black bottom's top center.",
+    "Locate the white bell and click its top center.",
+    "Press the center top of the plastic and metal bell.",
+    "Press the bell shaped like half-circle dome's top center with the left arm firmly.",
+    "Pinpoint the compact tabletop bell and click its top center.",
+    "Use the left arm to press the white bell with black bottom's top section.",
+    "Tap the compact tabletop bell's top center with the left arm.",
+    "Press down the white bell's top center gently.",
+    "Press the small desk bell for tapping's top center on the table.",
+    "Click the white dome bell's <top center> using the left arm",
+    "Click the designated center of the bell with metallic top and plastic base."
+  ],
+  "unseen": [
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001156.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Make the left arm interact with the white bell with black bottom's top center.",
+    "Click the white and black colored bell's <top center> using the left arm",
+    "Push the compact tabletop bell's <top center> on the table",
+    "Push the center of the bell with metallic top and plastic base using the left arm.",
+    "Guide the left arm to click the plastic and metal bell's top center.",
+    "Tap the top center of the compact tabletop bell.",
+    "Direct the left arm to touch the rounded bell with flat black part's top.",
+    "Press down the bell with black flat base's top center gently.",
+    "Click using the left arm on the white and black colored bell's center.",
+    "Activate the rounded bell with flat black part by pressing its top center.",
+    "Ask the left arm to interact with the small desk bell for tapping's top.",
+    "Direct the left arm to click the top of the rounded bell with flat black part.",
+    "Use the left arm to press the compact tabletop bell's top section.",
+    "Locate the compact tabletop bell and click its top center.",
+    "Press the top center of the white and black colored bell on table.",
+    "Press the specified top area of the simple hand bell with black stand.",
+    "Use the left arm to touch the bell with metallic top and plastic base's top center.",
+    "Command the left arm to press the white bell's top.",
+    "Click the rounded bell with flat black part's top center using the left arm.",
+    "Click the simple hand bell with black stand at its top center on table.",
+    "Click the top center of the white and black colored bell on table.",
+    "Press the bell with black flat base's top center on the table.",
+    "Have the left arm click at the plastic and metal bell's top center.",
+    "Press down the top of the rounded bell with flat black part using the left arm.",
+    "Press the center of the simple hand bell with black stand using the left arm.",
+    "Pinpoint the compact tabletop bell and click its top center.",
+    "Click the designated center of the white dome bell.",
+    "Press the center top of the small desk bell for tapping.",
+    "Tap the white bell's top center with the left arm.",
+    "Tap the compact tabletop bell's top center with the left arm.",
+    "Press the bell with black flat base's top center with the left arm firmly.",
+    "Make the left arm interact with the bell with metallic top and plastic base's top center.",
+    "Click the bell shaped like half-circle dome's <top center> using the left arm",
+    "Push the white and black colored bell's <top center> on the table",
+    "Push the center of the white and black colored bell using the left arm.",
+    "Guide the left arm to click the white bell with black bottom's top center.",
+    "Tap the top center of the simple hand bell with black stand.",
+    "Direct the left arm to touch the plastic and metal bell's top.",
+    "Press down the small desk bell for tapping's top center gently.",
+    "Click using the left arm on the compact tabletop bell's center.",
+    "Activate the bell shaped like half-circle dome by pressing its top center.",
+    "Ask the left arm to interact with the bell with metallic top and plastic base's top.",
+    "Direct the left arm to click the top of the compact tabletop bell.",
+    "Use the left arm to press the compact tabletop bell's top section.",
+    "Locate the simple hand bell with black stand and click its top center.",
+    "Press the top center of the white bell with black bottom on table.",
+    "Press the specified top area of the compact tabletop bell.",
+    "Use the left arm to touch the simple hand bell with black stand's top center.",
+    "Command the left arm to press the white bell's top.",
+    "Click the plastic and metal bell's top center using the left arm.",
+    "Click the plastic and metal bell at its top center on table.",
+    "Click the top center of the rounded bell with flat black part on table.",
+    "Press the compact tabletop bell's top center on the table.",
+    "Have the left arm click at the small desk bell for tapping's top center.",
+    "Press down the top of the bell with metallic top and plastic base using the left arm.",
+    "Press the center of the simple hand bell with black stand using the left arm.",
+    "Pinpoint the rounded bell with flat black part and click its top center.",
+    "Click the designated center of the plastic and metal bell.",
+    "Press the center top of the white bell.",
+    "Tap the white and black colored bell's top center with the left arm.",
+    "Tap the white bell with black bottom's top center with the left arm.",
+    "Press the white bell's top center with the left arm firmly.",
+    "Make the left arm interact with the bell with black flat base's top center.",
+    "Click the rounded bell with flat black part's <top center> using the left arm",
+    "Push the white bell with black bottom's <top center> on the table",
+    "Push the center of the bell with metallic top and plastic base using the left arm.",
+    "Guide the left arm to click the rounded bell with flat black part's top center.",
+    "Tap the top center of the compact tabletop bell.",
+    "Direct the left arm to touch the white bell's top.",
+    "Press down the rounded bell with flat black part's top center gently.",
+    "Click using the left arm on the white dome bell's center.",
+    "Activate the white bell by pressing its top center.",
+    "Ask the left arm to interact with the white dome bell's top.",
+    "Direct the left arm to click the top of the white bell.",
+    "Use the left arm to press the compact tabletop bell's top section.",
+    "Locate the white bell and click its top center.",
+    "Press the top center of the rounded bell with flat black part on table.",
+    "Press the specified top area of the white dome bell.",
+    "Use the left arm to touch the bell shaped like half-circle dome's top center.",
+    "Command the left arm to press the small desk bell for tapping's top.",
+    "Click the simple hand bell with black stand's top center using the left arm.",
+    "Click the compact tabletop bell at its top center on table.",
+    "Click the top center of the rounded bell with flat black part on table.",
+    "Press the white bell's top center on the table.",
+    "Have the left arm click at the compact tabletop bell's top center.",
+    "Press down the top of the bell with metallic top and plastic base using the left arm.",
+    "Press the center of the compact tabletop bell using the left arm.",
+    "Pinpoint the white and black colored bell and click its top center.",
+    "Click the designated center of the compact tabletop bell.",
+    "Press the center top of the simple hand bell with black stand.",
+    "Tap the white dome bell's top center with the left arm.",
+    "Tap the simple hand bell with black stand's top center with the left arm.",
+    "Press the rounded bell with flat black part's top center with the left arm firmly.",
+    "Make the left arm interact with the bell with black flat base's top center.",
+    "Click the white dome bell's <top center> using the left arm",
+    "Push the small desk bell for tapping's <top center> on the table",
+    "Push the center of the rounded bell with flat black part using the left arm.",
+    "Guide the left arm to click the compact tabletop bell's top center.",
+    "Tap the top center of the bell with black flat base.",
+    "Direct the left arm to touch the simple hand bell with black stand's top."
+  ],
+  "unseen": [
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001159.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the rounded bell with flat black part's top center on the table.",
+    "Make the right arm interact with the compact tabletop bell's top center.",
+    "Command the right arm to press the white bell's top.",
+    "Have the right arm click at the rounded bell with flat black part's top center.",
+    "Use the right arm to touch the white bell with black bottom's top center.",
+    "Direct the right arm to click the top of the compact tabletop bell.",
+    "Click the designated center of the small desk bell for tapping.",
+    "Click the white dome bell's <top center> using the right arm",
+    "Press the center of the bell shaped like half-circle dome using the right arm.",
+    "Tap the compact tabletop bell's top center with the right arm.",
+    "Push the white bell's <top center> on the table",
+    "Tap the top center of the bell with metallic top and plastic base.",
+    "Click the top center of the bell with black flat base on table.",
+    "Click the white bell with black bottom's top center using the right arm.",
+    "Push the center of the white dome bell using the right arm.",
+    "Click using the right arm on the white bell's center.",
+    "Direct the right arm to touch the bell with black flat base's top.",
+    "Press the specified top area of the small desk bell for tapping.",
+    "Guide the right arm to click the bell with black flat base's top center.",
+    "Click the simple hand bell with black stand at its top center on table.",
+    "Ask the right arm to interact with the bell with black flat base's top.",
+    "Use the right arm to press the plastic and metal bell's top section.",
+    "Tap the white bell with black bottom's top center with the right arm.",
+    "Locate the white dome bell and click its top center.",
+    "Press down the top of the compact tabletop bell using the right arm.",
+    "Activate the bell with black flat base by pressing its top center.",
+    "Press the white bell with black bottom's top center with the right arm firmly.",
+    "Press down the rounded bell with flat black part's top center gently.",
+    "Pinpoint the white bell and click its top center.",
+    "Press the top center of the compact tabletop bell on table.",
+    "Press the center top of the bell with black flat base.",
+    "Press the white and black colored bell's top center on the table.",
+    "Make the right arm interact with the bell with metallic top and plastic base's top center.",
+    "Command the right arm to press the white and black colored bell's top.",
+    "Have the right arm click at the white and black colored bell's top center.",
+    "Use the right arm to touch the white bell's top center.",
+    "Direct the right arm to click the top of the simple hand bell with black stand.",
+    "Click the designated center of the white and black colored bell.",
+    "Click the white bell with black bottom's <top center> using the right arm",
+    "Press the center of the compact tabletop bell using the right arm.",
+    "Tap the white bell with black bottom's top center with the right arm.",
+    "Push the bell with black flat base's <top center> on the table",
+    "Tap the top center of the bell with metallic top and plastic base.",
+    "Click the top center of the white and black colored bell on table.",
+    "Click the compact tabletop bell's top center using the right arm.",
+    "Push the center of the compact tabletop bell using the right arm.",
+    "Click using the right arm on the plastic and metal bell's center.",
+    "Direct the right arm to touch the simple hand bell with black stand's top.",
+    "Press the specified top area of the simple hand bell with black stand.",
+    "Guide the right arm to click the plastic and metal bell's top center.",
+    "Click the simple hand bell with black stand at its top center on table.",
+    "Ask the right arm to interact with the small desk bell for tapping's top.",
+    "Use the right arm to press the compact tabletop bell's top section.",
+    "Tap the white bell with black bottom's top center with the right arm.",
+    "Locate the rounded bell with flat black part and click its top center.",
+    "Press down the top of the bell with black flat base using the right arm.",
+    "Activate the small desk bell for tapping by pressing its top center.",
+    "Press the simple hand bell with black stand's top center with the right arm firmly.",
+    "Press down the simple hand bell with black stand's top center gently.",
+    "Pinpoint the white bell with black bottom and click its top center.",
+    "Press the top center of the rounded bell with flat black part on table.",
+    "Press the center top of the compact tabletop bell.",
+    "Press the compact tabletop bell's top center on the table.",
+    "Make the right arm interact with the bell with metallic top and plastic base's top center.",
+    "Command the right arm to press the bell with black flat base's top.",
+    "Have the right arm click at the compact tabletop bell's top center.",
+    "Use the right arm to touch the white bell with black bottom's top center.",
+    "Direct the right arm to click the top of the rounded bell with flat black part.",
+    "Click the designated center of the compact tabletop bell.",
+    "Click the bell with metallic top and plastic base's <top center> using the right arm",
+    "Press the center of the white bell using the right arm.",
+    "Tap the simple hand bell with black stand's top center with the right arm.",
+    "Push the bell with black flat base's <top center> on the table",
+    "Tap the top center of the white and black colored bell.",
+    "Click the top center of the bell with metallic top and plastic base on table.",
+    "Click the bell shaped like half-circle dome's top center using the right arm.",
+    "Push the center of the white and black colored bell using the right arm.",
+    "Click using the right arm on the white and black colored bell's center.",
+    "Direct the right arm to touch the compact tabletop bell's top.",
+    "Press the specified top area of the bell with metallic top and plastic base.",
+    "Guide the right arm to click the white bell's top center.",
+    "Click the bell with black flat base at its top center on table.",
+    "Ask the right arm to interact with the white and black colored bell's top.",
+    "Use the right arm to press the plastic and metal bell's top section.",
+    "Tap the white bell's top center with the right arm.",
+    "Locate the small desk bell for tapping and click its top center.",
+    "Press down the top of the white dome bell using the right arm.",
+    "Activate the white bell with black bottom by pressing its top center.",
+    "Press the white bell with black bottom's top center with the right arm firmly.",
+    "Press down the white and black colored bell's top center gently.",
+    "Pinpoint the bell with metallic top and plastic base and click its top center.",
+    "Press the top center of the plastic and metal bell on table.",
+    "Press the center top of the compact tabletop bell.",
+    "Press the rounded bell with flat black part's top center on the table.",
+    "Make the right arm interact with the white bell with black bottom's top center.",
+    "Command the right arm to press the bell shaped like half-circle dome's top.",
+    "Have the right arm click at the white dome bell's top center.",
+    "Use the right arm to touch the rounded bell with flat black part's top center.",
+    "Direct the right arm to click the top of the small desk bell for tapping.",
+    "Click the designated center of the white bell."
+  ],
+  "unseen": [
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001168.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the specified top area of the bell with black flat base.",
+    "Press down the top of the white bell using the right arm.",
+    "Ask the right arm to interact with the white bell with black bottom's top.",
+    "Press the center of the bell shaped like half-circle dome using the right arm.",
+    "Tap the bell with black flat base's top center with the right arm.",
+    "Press the center top of the white bell with black bottom.",
+    "Click the top center of the simple hand bell with black stand on table.",
+    "Pinpoint the bell shaped like half-circle dome and click its top center.",
+    "Press the top center of the white dome bell on table.",
+    "Activate the white and black colored bell by pressing its top center.",
+    "Tap the bell with metallic top and plastic base's top center with the right arm.",
+    "Guide the right arm to click the bell shaped like half-circle dome's top center.",
+    "Command the right arm to press the rounded bell with flat black part's top.",
+    "Press the white and black colored bell's top center on the table.",
+    "Press down the small desk bell for tapping's top center gently.",
+    "Use the right arm to touch the bell shaped like half-circle dome's top center.",
+    "Make the right arm interact with the white dome bell's top center.",
+    "Use the right arm to press the plastic and metal bell's top section.",
+    "Push the simple hand bell with black stand's <top center> on the table",
+    "Press the bell with metallic top and plastic base's top center with the right arm firmly.",
+    "Direct the right arm to click the top of the bell with metallic top and plastic base.",
+    "Click using the right arm on the rounded bell with flat black part's center.",
+    "Direct the right arm to touch the white dome bell's top.",
+    "Tap the top center of the white and black colored bell.",
+    "Locate the rounded bell with flat black part and click its top center.",
+    "Have the right arm click at the bell with metallic top and plastic base's top center.",
+    "Click the white and black colored bell at its top center on table.",
+    "Push the center of the white and black colored bell using the right arm.",
+    "Click the bell with metallic top and plastic base's <top center> using the right arm",
+    "Click the designated center of the white bell with black bottom.",
+    "Click the white bell with black bottom's top center using the right arm.",
+    "Press the specified top area of the white bell with black bottom.",
+    "Press down the top of the white bell with black bottom using the right arm.",
+    "Ask the right arm to interact with the white bell's top.",
+    "Press the center of the bell with metallic top and plastic base using the right arm.",
+    "Tap the rounded bell with flat black part's top center with the right arm.",
+    "Press the center top of the white bell with black bottom.",
+    "Click the top center of the plastic and metal bell on table.",
+    "Pinpoint the bell with metallic top and plastic base and click its top center.",
+    "Press the top center of the bell with black flat base on table.",
+    "Activate the simple hand bell with black stand by pressing its top center.",
+    "Tap the white dome bell's top center with the right arm.",
+    "Guide the right arm to click the white bell's top center.",
+    "Command the right arm to press the bell shaped like half-circle dome's top.",
+    "Press the compact tabletop bell's top center on the table.",
+    "Press down the white bell's top center gently.",
+    "Use the right arm to touch the plastic and metal bell's top center.",
+    "Make the right arm interact with the white bell with black bottom's top center.",
+    "Use the right arm to press the white and black colored bell's top section.",
+    "Push the small desk bell for tapping's <top center> on the table",
+    "Press the white bell's top center with the right arm firmly.",
+    "Direct the right arm to click the top of the bell with metallic top and plastic base.",
+    "Click using the right arm on the simple hand bell with black stand's center.",
+    "Direct the right arm to touch the white dome bell's top.",
+    "Tap the top center of the bell with black flat base.",
+    "Locate the simple hand bell with black stand and click its top center.",
+    "Have the right arm click at the simple hand bell with black stand's top center.",
+    "Click the small desk bell for tapping at its top center on table.",
+    "Push the center of the white bell using the right arm.",
+    "Click the small desk bell for tapping's <top center> using the right arm",
+    "Click the designated center of the white and black colored bell.",
+    "Click the bell shaped like half-circle dome's top center using the right arm.",
+    "Press the specified top area of the white and black colored bell.",
+    "Press down the top of the compact tabletop bell using the right arm.",
+    "Ask the right arm to interact with the bell with metallic top and plastic base's top.",
+    "Press the center of the white and black colored bell using the right arm.",
+    "Tap the white bell with black bottom's top center with the right arm.",
+    "Press the center top of the white dome bell.",
+    "Click the top center of the rounded bell with flat black part on table.",
+    "Pinpoint the simple hand bell with black stand and click its top center.",
+    "Press the top center of the white bell with black bottom on table.",
+    "Activate the small desk bell for tapping by pressing its top center.",
+    "Tap the bell with black flat base's top center with the right arm.",
+    "Guide the right arm to click the simple hand bell with black stand's top center.",
+    "Command the right arm to press the plastic and metal bell's top.",
+    "Press the rounded bell with flat black part's top center on the table.",
+    "Press down the compact tabletop bell's top center gently.",
+    "Use the right arm to touch the bell with black flat base's top center.",
+    "Make the right arm interact with the compact tabletop bell's top center.",
+    "Use the right arm to press the white bell with black bottom's top section.",
+    "Push the bell with black flat base's <top center> on the table",
+    "Press the white bell with black bottom's top center with the right arm firmly.",
+    "Direct the right arm to click the top of the white and black colored bell.",
+    "Click using the right arm on the plastic and metal bell's center.",
+    "Direct the right arm to touch the white bell's top.",
+    "Tap the top center of the plastic and metal bell.",
+    "Locate the simple hand bell with black stand and click its top center.",
+    "Have the right arm click at the simple hand bell with black stand's top center.",
+    "Click the white and black colored bell at its top center on table.",
+    "Push the center of the bell with black flat base using the right arm.",
+    "Click the simple hand bell with black stand's <top center> using the right arm",
+    "Click the designated center of the simple hand bell with black stand.",
+    "Click the simple hand bell with black stand's top center using the right arm.",
+    "Press the specified top area of the white and black colored bell.",
+    "Press down the top of the rounded bell with flat black part using the right arm.",
+    "Ask the right arm to interact with the simple hand bell with black stand's top.",
+    "Press the center of the white and black colored bell using the right arm.",
+    "Tap the small desk bell for tapping's top center with the right arm.",
+    "Press the center top of the plastic and metal bell.",
+    "Click the top center of the white dome bell on table."
+  ],
+  "unseen": [
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Find the smooth metal bell and click its top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Find the medium-sized bell and click its top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Find the smooth metal bell and click its top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Find the smooth metal bell and click its top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Find the medium-sized bell and click its top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Find the smooth metal bell and click its top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Find the medium-sized bell and click its top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Find the smooth metal bell and click its top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Find the medium-sized bell and click its top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Find the smooth metal bell and click its top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Find the medium-sized bell and click its top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Use the right arm to press the smooth metal bell's top center."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001170.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Tap the bell with metallic top and plastic base's top center with the left arm.",
+    "Press the top center of the rounded bell with flat black part on table.",
+    "Command the left arm to press the bell with metallic top and plastic base's top.",
+    "Press the center of the bell with black flat base using the left arm.",
+    "Direct the left arm to touch the white dome bell's top.",
+    "Press the bell shaped like half-circle dome's top center on the table.",
+    "Click the bell with metallic top and plastic base's <top center> using the left arm",
+    "Press down the compact tabletop bell's top center gently.",
+    "Have the left arm click at the white dome bell's top center.",
+    "Use the left arm to touch the compact tabletop bell's top center.",
+    "Click the simple hand bell with black stand at its top center on table.",
+    "Push the plastic and metal bell's <top center> on the table",
+    "Use the left arm to press the simple hand bell with black stand's top section.",
+    "Press the center top of the small desk bell for tapping.",
+    "Tap the simple hand bell with black stand's top center with the left arm.",
+    "Click the designated center of the simple hand bell with black stand.",
+    "Tap the top center of the plastic and metal bell.",
+    "Guide the left arm to click the white dome bell's top center.",
+    "Click the top center of the white dome bell on table.",
+    "Ask the left arm to interact with the white and black colored bell's top.",
+    "Press the specified top area of the white and black colored bell.",
+    "Direct the left arm to click the top of the simple hand bell with black stand.",
+    "Make the left arm interact with the small desk bell for tapping's top center.",
+    "Push the center of the compact tabletop bell using the left arm.",
+    "Locate the small desk bell for tapping and click its top center.",
+    "Activate the white bell with black bottom by pressing its top center.",
+    "Press down the top of the white bell with black bottom using the left arm.",
+    "Click using the left arm on the white bell with black bottom's center.",
+    "Pinpoint the bell with black flat base and click its top center.",
+    "Press the compact tabletop bell's top center with the left arm firmly.",
+    "Click the compact tabletop bell's top center using the left arm.",
+    "Tap the bell shaped like half-circle dome's top center with the left arm.",
+    "Press the top center of the bell with black flat base on table.",
+    "Command the left arm to press the plastic and metal bell's top.",
+    "Press the center of the small desk bell for tapping using the left arm.",
+    "Direct the left arm to touch the white dome bell's top.",
+    "Press the bell shaped like half-circle dome's top center on the table.",
+    "Click the white bell with black bottom's <top center> using the left arm",
+    "Press down the simple hand bell with black stand's top center gently.",
+    "Have the left arm click at the white and black colored bell's top center.",
+    "Use the left arm to touch the simple hand bell with black stand's top center.",
+    "Click the bell shaped like half-circle dome at its top center on table.",
+    "Push the rounded bell with flat black part's <top center> on the table",
+    "Use the left arm to press the white bell with black bottom's top section.",
+    "Press the center top of the white and black colored bell.",
+    "Tap the simple hand bell with black stand's top center with the left arm.",
+    "Click the designated center of the small desk bell for tapping.",
+    "Tap the top center of the white and black colored bell.",
+    "Guide the left arm to click the bell with metallic top and plastic base's top center.",
+    "Click the top center of the compact tabletop bell on table.",
+    "Ask the left arm to interact with the bell shaped like half-circle dome's top.",
+    "Press the specified top area of the white and black colored bell.",
+    "Direct the left arm to click the top of the white bell with black bottom.",
+    "Make the left arm interact with the white bell with black bottom's top center.",
+    "Push the center of the white bell using the left arm.",
+    "Locate the white bell and click its top center.",
+    "Activate the white bell with black bottom by pressing its top center.",
+    "Press down the top of the rounded bell with flat black part using the left arm.",
+    "Click using the left arm on the small desk bell for tapping's center.",
+    "Pinpoint the plastic and metal bell and click its top center.",
+    "Press the rounded bell with flat black part's top center with the left arm firmly.",
+    "Click the simple hand bell with black stand's top center using the left arm.",
+    "Tap the white and black colored bell's top center with the left arm.",
+    "Press the top center of the bell with metallic top and plastic base on table.",
+    "Command the left arm to press the bell shaped like half-circle dome's top.",
+    "Press the center of the white bell with black bottom using the left arm.",
+    "Direct the left arm to touch the plastic and metal bell's top.",
+    "Press the compact tabletop bell's top center on the table.",
+    "Click the simple hand bell with black stand's <top center> using the left arm",
+    "Press down the rounded bell with flat black part's top center gently.",
+    "Have the left arm click at the plastic and metal bell's top center.",
+    "Use the left arm to touch the rounded bell with flat black part's top center.",
+    "Click the rounded bell with flat black part at its top center on table.",
+    "Push the bell shaped like half-circle dome's <top center> on the table",
+    "Use the left arm to press the plastic and metal bell's top section.",
+    "Press the center top of the simple hand bell with black stand.",
+    "Tap the bell with black flat base's top center with the left arm.",
+    "Click the designated center of the white and black colored bell.",
+    "Tap the top center of the bell with black flat base.",
+    "Guide the left arm to click the white and black colored bell's top center.",
+    "Click the top center of the simple hand bell with black stand on table.",
+    "Ask the left arm to interact with the simple hand bell with black stand's top.",
+    "Press the specified top area of the white bell with black bottom.",
+    "Direct the left arm to click the top of the white and black colored bell.",
+    "Make the left arm interact with the white bell with black bottom's top center.",
+    "Push the center of the compact tabletop bell using the left arm.",
+    "Locate the bell with metallic top and plastic base and click its top center.",
+    "Activate the bell shaped like half-circle dome by pressing its top center.",
+    "Press down the top of the bell with black flat base using the left arm.",
+    "Click using the left arm on the bell shaped like half-circle dome's center.",
+    "Pinpoint the bell shaped like half-circle dome and click its top center.",
+    "Press the white and black colored bell's top center with the left arm firmly.",
+    "Click the compact tabletop bell's top center using the left arm.",
+    "Tap the simple hand bell with black stand's top center with the left arm.",
+    "Press the top center of the simple hand bell with black stand on table.",
+    "Command the left arm to press the bell shaped like half-circle dome's top.",
+    "Press the center of the bell with black flat base using the left arm.",
+    "Direct the left arm to touch the small desk bell for tapping's top.",
+    "Press the white dome bell's top center on the table.",
+    "Click the bell shaped like half-circle dome's <top center> using the left arm"
+  ],
+  "unseen": [
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001176.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Direct the left arm to click the top of the white dome bell.",
+    "Push the center of the plastic and metal bell using the left arm.",
+    "Tap the white bell with black bottom's top center with the left arm.",
+    "Press the specified top area of the bell shaped like half-circle dome.",
+    "Push the simple hand bell with black stand's <top center> on the table",
+    "Click using the left arm on the white bell with black bottom's center.",
+    "Press down the top of the bell with metallic top and plastic base using the left arm.",
+    "Command the left arm to press the small desk bell for tapping's top.",
+    "Click the white bell at its top center on table.",
+    "Press the center of the simple hand bell with black stand using the left arm.",
+    "Press the top center of the white and black colored bell on table.",
+    "Use the left arm to press the bell with black flat base's top section.",
+    "Tap the top center of the white and black colored bell.",
+    "Locate the plastic and metal bell and click its top center.",
+    "Ask the left arm to interact with the small desk bell for tapping's top.",
+    "Click the white dome bell's <top center> using the left arm",
+    "Use the left arm to touch the bell shaped like half-circle dome's top center.",
+    "Tap the white dome bell's top center with the left arm.",
+    "Direct the left arm to touch the simple hand bell with black stand's top.",
+    "Make the left arm interact with the rounded bell with flat black part's top center.",
+    "Click the top center of the compact tabletop bell on table.",
+    "Click the white bell's top center using the left arm.",
+    "Activate the white dome bell by pressing its top center.",
+    "Click the designated center of the white bell.",
+    "Have the left arm click at the compact tabletop bell's top center.",
+    "Pinpoint the small desk bell for tapping and click its top center.",
+    "Press the small desk bell for tapping's top center with the left arm firmly.",
+    "Press down the compact tabletop bell's top center gently.",
+    "Press the simple hand bell with black stand's top center on the table.",
+    "Guide the left arm to click the rounded bell with flat black part's top center.",
+    "Press the center top of the plastic and metal bell.",
+    "Direct the left arm to click the top of the rounded bell with flat black part.",
+    "Push the center of the bell shaped like half-circle dome using the left arm.",
+    "Tap the bell with black flat base's top center with the left arm.",
+    "Press the specified top area of the white and black colored bell.",
+    "Push the compact tabletop bell's <top center> on the table",
+    "Click using the left arm on the rounded bell with flat black part's center.",
+    "Press down the top of the plastic and metal bell using the left arm.",
+    "Command the left arm to press the bell with metallic top and plastic base's top.",
+    "Click the bell shaped like half-circle dome at its top center on table.",
+    "Press the center of the bell shaped like half-circle dome using the left arm.",
+    "Press the top center of the bell shaped like half-circle dome on table.",
+    "Use the left arm to press the white bell with black bottom's top section.",
+    "Tap the top center of the bell with metallic top and plastic base.",
+    "Locate the white dome bell and click its top center.",
+    "Ask the left arm to interact with the white bell with black bottom's top.",
+    "Click the plastic and metal bell's <top center> using the left arm",
+    "Use the left arm to touch the bell with black flat base's top center.",
+    "Tap the white bell's top center with the left arm.",
+    "Direct the left arm to touch the white bell with black bottom's top.",
+    "Make the left arm interact with the white bell with black bottom's top center.",
+    "Click the top center of the white and black colored bell on table.",
+    "Click the white and black colored bell's top center using the left arm.",
+    "Activate the white and black colored bell by pressing its top center.",
+    "Click the designated center of the compact tabletop bell.",
+    "Have the left arm click at the white and black colored bell's top center.",
+    "Pinpoint the white dome bell and click its top center.",
+    "Press the rounded bell with flat black part's top center with the left arm firmly.",
+    "Press down the white bell with black bottom's top center gently.",
+    "Press the compact tabletop bell's top center on the table.",
+    "Guide the left arm to click the bell with metallic top and plastic base's top center.",
+    "Press the center top of the plastic and metal bell.",
+    "Direct the left arm to click the top of the compact tabletop bell.",
+    "Push the center of the small desk bell for tapping using the left arm.",
+    "Tap the white dome bell's top center with the left arm.",
+    "Press the specified top area of the plastic and metal bell.",
+    "Push the rounded bell with flat black part's <top center> on the table",
+    "Click using the left arm on the white and black colored bell's center.",
+    "Press down the top of the bell with metallic top and plastic base using the left arm.",
+    "Command the left arm to press the rounded bell with flat black part's top.",
+    "Click the rounded bell with flat black part at its top center on table.",
+    "Press the center of the white dome bell using the left arm.",
+    "Press the top center of the bell with metallic top and plastic base on table.",
+    "Use the left arm to press the rounded bell with flat black part's top section.",
+    "Tap the top center of the white and black colored bell.",
+    "Locate the compact tabletop bell and click its top center.",
+    "Ask the left arm to interact with the bell with metallic top and plastic base's top.",
+    "Click the rounded bell with flat black part's <top center> using the left arm",
+    "Use the left arm to touch the plastic and metal bell's top center.",
+    "Tap the rounded bell with flat black part's top center with the left arm.",
+    "Direct the left arm to touch the white and black colored bell's top.",
+    "Make the left arm interact with the bell shaped like half-circle dome's top center.",
+    "Click the top center of the simple hand bell with black stand on table.",
+    "Click the bell with black flat base's top center using the left arm.",
+    "Activate the bell shaped like half-circle dome by pressing its top center.",
+    "Click the designated center of the plastic and metal bell.",
+    "Have the left arm click at the compact tabletop bell's top center.",
+    "Pinpoint the rounded bell with flat black part and click its top center.",
+    "Press the compact tabletop bell's top center with the left arm firmly.",
+    "Press down the compact tabletop bell's top center gently.",
+    "Press the bell with metallic top and plastic base's top center on the table.",
+    "Guide the left arm to click the simple hand bell with black stand's top center.",
+    "Press the center top of the rounded bell with flat black part.",
+    "Direct the left arm to click the top of the simple hand bell with black stand.",
+    "Push the center of the white and black colored bell using the left arm.",
+    "Tap the bell with metallic top and plastic base's top center with the left arm.",
+    "Press the specified top area of the plastic and metal bell.",
+    "Push the white dome bell's <top center> on the table",
+    "Click using the left arm on the small desk bell for tapping's center.",
+    "Press down the top of the compact tabletop bell using the left arm."
+  ],
+  "unseen": [
+    "Click the smooth metal bell's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001183.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Ask the right arm to interact with the small blue and brown bell's top.",
+    "Press the specified top area of the metal bell with plastic parts.",
+    "Direct the right arm to touch the flat-topped bell's top.",
+    "Click the small blue and brown bell's <top center> using the right arm",
+    "Push the center of the round bell using the right arm.",
+    "Tap the blue dome-shaped bell's top center with the right arm.",
+    "Press the center of the blue dome-shaped bell using the right arm.",
+    "Press the blue dome-shaped bell's top center with the right arm firmly.",
+    "Tap the top center of the bell with protruding knob.",
+    "Push the metal bell with plastic parts's <top center> on the table",
+    "Make the right arm interact with the metal bell with plastic parts's top center.",
+    "Press down the top of the compact bell with round base using the right arm.",
+    "Use the right arm to touch the smooth blue bell's top center.",
+    "Press the center top of the flat-topped bell.",
+    "Pinpoint the smooth blue bell and click its top center.",
+    "Direct the right arm to click the top of the bell with brown base.",
+    "Press the top center of the blue dome-shaped bell on table.",
+    "Guide the right arm to click the compact bell with round base's top center.",
+    "Have the right arm click at the round bell's top center.",
+    "Use the right arm to press the bell with circular body's top section.",
+    "Command the right arm to press the blue dome-shaped bell's top.",
+    "Activate the compact bell with round base by pressing its top center.",
+    "Click the small blue and brown bell at its top center on table.",
+    "Click using the right arm on the brown-bottomed bell's center.",
+    "Press the metal bell with plastic parts's top center on the table.",
+    "Click the designated center of the round bell.",
+    "Tap the blue bell's top center with the right arm.",
+    "Click the top center of the metal bell with plastic parts on table.",
+    "Locate the bell with brown base and click its top center.",
+    "Press down the round bell's top center gently.",
+    "Click the small blue and brown bell's top center using the right arm.",
+    "Ask the right arm to interact with the blue dome-shaped bell's top.",
+    "Press the specified top area of the flat-topped bell.",
+    "Direct the right arm to touch the bell with brown base's top.",
+    "Click the bell with circular body's <top center> using the right arm",
+    "Push the center of the blue bell using the right arm.",
+    "Tap the smooth blue bell's top center with the right arm.",
+    "Press the center of the metal bell with plastic parts using the right arm.",
+    "Press the brown-bottomed bell's top center with the right arm firmly.",
+    "Tap the top center of the flat-topped bell.",
+    "Push the blue bell's <top center> on the table",
+    "Make the right arm interact with the small blue and brown bell's top center.",
+    "Press down the top of the blue dome-shaped bell using the right arm.",
+    "Use the right arm to touch the brown-bottomed bell's top center.",
+    "Press the center top of the bell with protruding knob.",
+    "Pinpoint the round bell and click its top center.",
+    "Direct the right arm to click the top of the bell with protruding knob.",
+    "Press the top center of the compact bell with round base on table.",
+    "Guide the right arm to click the brown-bottomed bell's top center.",
+    "Have the right arm click at the bell with brown base's top center.",
+    "Use the right arm to press the blue dome-shaped bell's top section.",
+    "Command the right arm to press the blue bell's top.",
+    "Activate the bell with brown base by pressing its top center.",
+    "Click the small blue and brown bell at its top center on table.",
+    "Click using the right arm on the bell with circular body's center.",
+    "Press the blue bell's top center on the table.",
+    "Click the designated center of the blue bell.",
+    "Tap the blue dome-shaped bell's top center with the right arm.",
+    "Click the top center of the flat-topped bell on table.",
+    "Locate the brown-bottomed bell and click its top center.",
+    "Press down the bell with brown base's top center gently.",
+    "Click the bell with protruding knob's top center using the right arm.",
+    "Ask the right arm to interact with the smooth blue bell's top.",
+    "Press the specified top area of the round bell.",
+    "Direct the right arm to touch the blue dome-shaped bell's top.",
+    "Click the smooth blue bell's <top center> using the right arm",
+    "Push the center of the brown-bottomed bell using the right arm.",
+    "Tap the flat-topped bell's top center with the right arm.",
+    "Press the center of the flat-topped bell using the right arm.",
+    "Press the compact bell with round base's top center with the right arm firmly.",
+    "Tap the top center of the brown-bottomed bell.",
+    "Push the compact bell with round base's <top center> on the table",
+    "Make the right arm interact with the blue dome-shaped bell's top center.",
+    "Press down the top of the smooth blue bell using the right arm.",
+    "Use the right arm to touch the brown-bottomed bell's top center.",
+    "Press the center top of the smooth blue bell.",
+    "Pinpoint the blue bell and click its top center.",
+    "Direct the right arm to click the top of the bell with circular body.",
+    "Press the top center of the round bell on table.",
+    "Guide the right arm to click the brown-bottomed bell's top center.",
+    "Have the right arm click at the blue bell's top center.",
+    "Use the right arm to press the small blue and brown bell's top section.",
+    "Command the right arm to press the blue dome-shaped bell's top.",
+    "Activate the metal bell with plastic parts by pressing its top center.",
+    "Click the blue bell at its top center on table.",
+    "Click using the right arm on the flat-topped bell's center.",
+    "Press the smooth blue bell's top center on the table.",
+    "Click the designated center of the bell with brown base.",
+    "Tap the bell with brown base's top center with the right arm.",
+    "Click the top center of the small blue and brown bell on table.",
+    "Locate the flat-topped bell and click its top center.",
+    "Press down the bell with circular body's top center gently.",
+    "Click the blue bell's top center using the right arm.",
+    "Ask the right arm to interact with the bell with circular body's top.",
+    "Press the specified top area of the blue bell.",
+    "Direct the right arm to touch the round bell's top.",
+    "Click the flat-topped bell's <top center> using the right arm",
+    "Push the center of the blue bell using the right arm.",
+    "Tap the blue bell's top center with the right arm.",
+    "Press the center of the small blue and brown bell using the right arm."
+  ],
+  "unseen": [
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Click the top center of the palm-sized bell.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Click the top center of the bell with raised round top.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Click the top center of the bell with raised round top.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the bell with raised round top.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Click the top center of the palm-sized bell.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Click the top center of the palm-sized bell.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Click the top center of the palm-sized bell.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the blue bell with glossy finish's top center on the table."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001184.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Locate the white bell with black bottom and click its top center.",
+    "Guide the left arm to click the simple hand bell with black stand's top center.",
+    "Tap the white bell with black bottom's top center with the left arm.",
+    "Press down the bell with black flat base's top center gently.",
+    "Make the left arm interact with the rounded bell with flat black part's top center.",
+    "Press the specified top area of the rounded bell with flat black part.",
+    "Have the left arm click at the white and black colored bell's top center.",
+    "Press the bell with metallic top and plastic base's top center with the left arm firmly.",
+    "Click the white bell's <top center> using the left arm",
+    "Tap the white bell with black bottom's top center with the left arm.",
+    "Tap the top center of the white bell.",
+    "Press the top center of the bell shaped like half-circle dome on table.",
+    "Direct the left arm to click the top of the bell shaped like half-circle dome.",
+    "Ask the left arm to interact with the bell with metallic top and plastic base's top.",
+    "Click using the left arm on the white and black colored bell's center.",
+    "Click the compact tabletop bell's top center using the left arm.",
+    "Press the bell shaped like half-circle dome's top center on the table.",
+    "Activate the simple hand bell with black stand by pressing its top center.",
+    "Use the left arm to press the bell shaped like half-circle dome's top section.",
+    "Click the bell with black flat base at its top center on table.",
+    "Push the center of the white dome bell using the left arm.",
+    "Press down the top of the bell with metallic top and plastic base using the left arm.",
+    "Use the left arm to touch the white dome bell's top center.",
+    "Push the plastic and metal bell's <top center> on the table",
+    "Pinpoint the small desk bell for tapping and click its top center.",
+    "Click the designated center of the rounded bell with flat black part.",
+    "Press the center of the white bell using the left arm.",
+    "Direct the left arm to touch the bell shaped like half-circle dome's top.",
+    "Press the center top of the bell shaped like half-circle dome.",
+    "Command the left arm to press the white and black colored bell's top.",
+    "Click the top center of the compact tabletop bell on table.",
+    "Locate the white and black colored bell and click its top center.",
+    "Guide the left arm to click the simple hand bell with black stand's top center.",
+    "Tap the bell with black flat base's top center with the left arm.",
+    "Press down the white dome bell's top center gently.",
+    "Make the left arm interact with the white dome bell's top center.",
+    "Press the specified top area of the small desk bell for tapping.",
+    "Have the left arm click at the simple hand bell with black stand's top center.",
+    "Press the plastic and metal bell's top center with the left arm firmly.",
+    "Click the white bell's <top center> using the left arm",
+    "Tap the white bell with black bottom's top center with the left arm.",
+    "Tap the top center of the white and black colored bell.",
+    "Press the top center of the simple hand bell with black stand on table.",
+    "Direct the left arm to click the top of the plastic and metal bell.",
+    "Ask the left arm to interact with the plastic and metal bell's top.",
+    "Click using the left arm on the bell shaped like half-circle dome's center.",
+    "Click the bell shaped like half-circle dome's top center using the left arm.",
+    "Press the simple hand bell with black stand's top center on the table.",
+    "Activate the compact tabletop bell by pressing its top center.",
+    "Use the left arm to press the bell with metallic top and plastic base's top section.",
+    "Click the simple hand bell with black stand at its top center on table.",
+    "Push the center of the bell shaped like half-circle dome using the left arm.",
+    "Press down the top of the rounded bell with flat black part using the left arm.",
+    "Use the left arm to touch the white dome bell's top center.",
+    "Push the small desk bell for tapping's <top center> on the table",
+    "Pinpoint the rounded bell with flat black part and click its top center.",
+    "Click the designated center of the white and black colored bell.",
+    "Press the center of the white dome bell using the left arm.",
+    "Direct the left arm to touch the rounded bell with flat black part's top.",
+    "Press the center top of the small desk bell for tapping.",
+    "Command the left arm to press the white bell's top.",
+    "Click the top center of the simple hand bell with black stand on table.",
+    "Locate the white and black colored bell and click its top center.",
+    "Guide the left arm to click the rounded bell with flat black part's top center.",
+    "Tap the compact tabletop bell's top center with the left arm.",
+    "Press down the bell with metallic top and plastic base's top center gently.",
+    "Make the left arm interact with the white bell with black bottom's top center.",
+    "Press the specified top area of the compact tabletop bell.",
+    "Have the left arm click at the rounded bell with flat black part's top center.",
+    "Press the bell with metallic top and plastic base's top center with the left arm firmly.",
+    "Click the small desk bell for tapping's <top center> using the left arm",
+    "Tap the bell shaped like half-circle dome's top center with the left arm.",
+    "Tap the top center of the white and black colored bell.",
+    "Press the top center of the bell with metallic top and plastic base on table.",
+    "Direct the left arm to click the top of the rounded bell with flat black part.",
+    "Ask the left arm to interact with the bell shaped like half-circle dome's top.",
+    "Click using the left arm on the bell shaped like half-circle dome's center.",
+    "Click the compact tabletop bell's top center using the left arm.",
+    "Press the bell shaped like half-circle dome's top center on the table.",
+    "Activate the rounded bell with flat black part by pressing its top center.",
+    "Use the left arm to press the white dome bell's top section.",
+    "Click the bell with metallic top and plastic base at its top center on table.",
+    "Push the center of the white and black colored bell using the left arm.",
+    "Press down the top of the white bell with black bottom using the left arm.",
+    "Use the left arm to touch the bell with black flat base's top center.",
+    "Push the bell with black flat base's <top center> on the table",
+    "Pinpoint the bell with metallic top and plastic base and click its top center.",
+    "Click the designated center of the white dome bell.",
+    "Press the center of the compact tabletop bell using the left arm.",
+    "Direct the left arm to touch the simple hand bell with black stand's top.",
+    "Press the center top of the white bell with black bottom.",
+    "Command the left arm to press the plastic and metal bell's top.",
+    "Click the top center of the white bell with black bottom on table.",
+    "Locate the white bell with black bottom and click its top center.",
+    "Guide the left arm to click the white dome bell's top center.",
+    "Tap the simple hand bell with black stand's top center with the left arm.",
+    "Press down the small desk bell for tapping's top center gently.",
+    "Make the left arm interact with the plastic and metal bell's top center.",
+    "Press the specified top area of the white bell with black bottom.",
+    "Have the left arm click at the bell shaped like half-circle dome's top center."
+  ],
+  "unseen": [
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001186.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press down the simple hand bell with black stand's top center gently.",
+    "Click the top center of the white bell on table.",
+    "Push the white bell's <top center> on the table",
+    "Press the bell with metallic top and plastic base's top center with the left arm firmly.",
+    "Use the left arm to press the plastic and metal bell's top section.",
+    "Click the designated center of the simple hand bell with black stand.",
+    "Locate the bell with black flat base and click its top center.",
+    "Make the left arm interact with the white bell with black bottom's top center.",
+    "Ask the left arm to interact with the white bell with black bottom's top.",
+    "Click the bell with metallic top and plastic base at its top center on table.",
+    "Press the top center of the white bell on table.",
+    "Guide the left arm to click the plastic and metal bell's top center.",
+    "Direct the left arm to touch the white and black colored bell's top.",
+    "Press the center top of the small desk bell for tapping.",
+    "Press the white and black colored bell's top center on the table.",
+    "Pinpoint the white bell and click its top center.",
+    "Press the specified top area of the bell with metallic top and plastic base.",
+    "Tap the white bell's top center with the left arm.",
+    "Click the white bell's <top center> using the left arm",
+    "Command the left arm to press the rounded bell with flat black part's top.",
+    "Click the white bell's top center using the left arm.",
+    "Press the center of the bell shaped like half-circle dome using the left arm.",
+    "Have the left arm click at the compact tabletop bell's top center.",
+    "Push the center of the white bell with black bottom using the left arm.",
+    "Click using the left arm on the bell shaped like half-circle dome's center.",
+    "Activate the simple hand bell with black stand by pressing its top center.",
+    "Tap the bell with black flat base's top center with the left arm.",
+    "Direct the left arm to click the top of the simple hand bell with black stand.",
+    "Press down the top of the bell with black flat base using the left arm.",
+    "Use the left arm to touch the compact tabletop bell's top center.",
+    "Tap the top center of the white bell.",
+    "Press down the bell with black flat base's top center gently.",
+    "Click the top center of the rounded bell with flat black part on table.",
+    "Push the white bell with black bottom's <top center> on the table",
+    "Press the compact tabletop bell's top center with the left arm firmly.",
+    "Use the left arm to press the white bell's top section.",
+    "Click the designated center of the bell with metallic top and plastic base.",
+    "Locate the white and black colored bell and click its top center.",
+    "Make the left arm interact with the plastic and metal bell's top center.",
+    "Ask the left arm to interact with the bell with metallic top and plastic base's top.",
+    "Click the plastic and metal bell at its top center on table.",
+    "Press the top center of the bell with black flat base on table.",
+    "Guide the left arm to click the white bell with black bottom's top center.",
+    "Direct the left arm to touch the white bell's top.",
+    "Press the center top of the plastic and metal bell.",
+    "Press the bell shaped like half-circle dome's top center on the table.",
+    "Pinpoint the simple hand bell with black stand and click its top center.",
+    "Press the specified top area of the white dome bell.",
+    "Tap the compact tabletop bell's top center with the left arm.",
+    "Click the simple hand bell with black stand's <top center> using the left arm",
+    "Command the left arm to press the rounded bell with flat black part's top.",
+    "Click the white dome bell's top center using the left arm.",
+    "Press the center of the bell shaped like half-circle dome using the left arm.",
+    "Have the left arm click at the plastic and metal bell's top center.",
+    "Push the center of the plastic and metal bell using the left arm.",
+    "Click using the left arm on the compact tabletop bell's center.",
+    "Activate the white bell by pressing its top center.",
+    "Tap the compact tabletop bell's top center with the left arm.",
+    "Direct the left arm to click the top of the compact tabletop bell.",
+    "Press down the top of the rounded bell with flat black part using the left arm.",
+    "Use the left arm to touch the small desk bell for tapping's top center.",
+    "Tap the top center of the white bell.",
+    "Press down the compact tabletop bell's top center gently.",
+    "Click the top center of the simple hand bell with black stand on table.",
+    "Push the bell shaped like half-circle dome's <top center> on the table",
+    "Press the simple hand bell with black stand's top center with the left arm firmly.",
+    "Use the left arm to press the plastic and metal bell's top section.",
+    "Click the designated center of the bell with black flat base.",
+    "Locate the white and black colored bell and click its top center.",
+    "Make the left arm interact with the white bell's top center.",
+    "Ask the left arm to interact with the white bell with black bottom's top.",
+    "Click the white bell at its top center on table.",
+    "Press the top center of the bell with metallic top and plastic base on table.",
+    "Guide the left arm to click the white bell with black bottom's top center.",
+    "Direct the left arm to touch the rounded bell with flat black part's top.",
+    "Press the center top of the white bell.",
+    "Press the rounded bell with flat black part's top center on the table.",
+    "Pinpoint the white bell and click its top center.",
+    "Press the specified top area of the white bell with black bottom.",
+    "Tap the compact tabletop bell's top center with the left arm.",
+    "Click the rounded bell with flat black part's <top center> using the left arm",
+    "Command the left arm to press the white dome bell's top.",
+    "Click the bell with black flat base's top center using the left arm.",
+    "Press the center of the white and black colored bell using the left arm.",
+    "Have the left arm click at the white and black colored bell's top center.",
+    "Push the center of the white dome bell using the left arm.",
+    "Click using the left arm on the plastic and metal bell's center.",
+    "Activate the simple hand bell with black stand by pressing its top center.",
+    "Tap the white and black colored bell's top center with the left arm.",
+    "Direct the left arm to click the top of the white and black colored bell.",
+    "Press down the top of the compact tabletop bell using the left arm.",
+    "Use the left arm to touch the white and black colored bell's top center.",
+    "Tap the top center of the compact tabletop bell.",
+    "Press down the white dome bell's top center gently.",
+    "Click the top center of the white bell with black bottom on table.",
+    "Push the bell with black flat base's <top center> on the table",
+    "Press the simple hand bell with black stand's top center with the left arm firmly.",
+    "Use the left arm to press the white bell's top section.",
+    "Click the designated center of the white and black colored bell.",
+    "Locate the plastic and metal bell and click its top center."
+  ],
+  "unseen": [
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the top center of the medium-sized bell.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the top center of the medium-sized bell.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001190.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the top center of the blue dome-shaped bell on table.",
+    "Click the bell with protruding knob's <top center> using the left arm",
+    "Direct the left arm to touch the blue bell's top.",
+    "Activate the bell with circular body by pressing its top center.",
+    "Press the specified top area of the bell with protruding knob.",
+    "Guide the left arm to click the small blue and brown bell's top center.",
+    "Tap the top center of the bell with circular body.",
+    "Press the metal bell with plastic parts's top center on the table.",
+    "Push the center of the bell with brown base using the left arm.",
+    "Click the bell with brown base's top center using the left arm.",
+    "Click the metal bell with plastic parts at its top center on table.",
+    "Tap the brown-bottomed bell's top center with the left arm.",
+    "Click the top center of the metal bell with plastic parts on table.",
+    "Use the left arm to press the smooth blue bell's top section.",
+    "Direct the left arm to click the top of the round bell.",
+    "Push the small blue and brown bell's <top center> on the table",
+    "Use the left arm to touch the smooth blue bell's top center.",
+    "Press the compact bell with round base's top center with the left arm firmly.",
+    "Press down the compact bell with round base's top center gently.",
+    "Press down the top of the bell with circular body using the left arm.",
+    "Have the left arm click at the blue dome-shaped bell's top center.",
+    "Ask the left arm to interact with the bell with brown base's top.",
+    "Locate the bell with brown base and click its top center.",
+    "Tap the small blue and brown bell's top center with the left arm.",
+    "Press the center top of the compact bell with round base.",
+    "Pinpoint the flat-topped bell and click its top center.",
+    "Click the designated center of the bell with brown base.",
+    "Command the left arm to press the bell with circular body's top.",
+    "Press the center of the bell with protruding knob using the left arm.",
+    "Click using the left arm on the smooth blue bell's center.",
+    "Make the left arm interact with the compact bell with round base's top center.",
+    "Press the top center of the smooth blue bell on table.",
+    "Click the blue dome-shaped bell's <top center> using the left arm",
+    "Direct the left arm to touch the metal bell with plastic parts's top.",
+    "Activate the brown-bottomed bell by pressing its top center.",
+    "Press the specified top area of the blue bell.",
+    "Guide the left arm to click the small blue and brown bell's top center.",
+    "Tap the top center of the round bell.",
+    "Press the blue bell's top center on the table.",
+    "Push the center of the compact bell with round base using the left arm.",
+    "Click the flat-topped bell's top center using the left arm.",
+    "Click the bell with circular body at its top center on table.",
+    "Tap the smooth blue bell's top center with the left arm.",
+    "Click the top center of the bell with circular body on table.",
+    "Use the left arm to press the blue dome-shaped bell's top section.",
+    "Direct the left arm to click the top of the blue bell.",
+    "Push the metal bell with plastic parts's <top center> on the table",
+    "Use the left arm to touch the metal bell with plastic parts's top center.",
+    "Press the bell with circular body's top center with the left arm firmly.",
+    "Press down the bell with brown base's top center gently.",
+    "Press down the top of the bell with brown base using the left arm.",
+    "Have the left arm click at the bell with protruding knob's top center.",
+    "Ask the left arm to interact with the bell with brown base's top.",
+    "Locate the compact bell with round base and click its top center.",
+    "Tap the bell with brown base's top center with the left arm.",
+    "Press the center top of the blue dome-shaped bell.",
+    "Pinpoint the blue bell and click its top center.",
+    "Click the designated center of the bell with brown base.",
+    "Command the left arm to press the brown-bottomed bell's top.",
+    "Press the center of the metal bell with plastic parts using the left arm.",
+    "Click using the left arm on the blue bell's center.",
+    "Make the left arm interact with the brown-bottomed bell's top center.",
+    "Press the top center of the blue bell on table.",
+    "Click the blue dome-shaped bell's <top center> using the left arm",
+    "Direct the left arm to touch the brown-bottomed bell's top.",
+    "Activate the bell with brown base by pressing its top center.",
+    "Press the specified top area of the bell with brown base.",
+    "Guide the left arm to click the bell with circular body's top center.",
+    "Tap the top center of the bell with circular body.",
+    "Press the bell with circular body's top center on the table.",
+    "Push the center of the metal bell with plastic parts using the left arm.",
+    "Click the small blue and brown bell's top center using the left arm.",
+    "Click the blue dome-shaped bell at its top center on table.",
+    "Tap the metal bell with plastic parts's top center with the left arm.",
+    "Click the top center of the smooth blue bell on table.",
+    "Use the left arm to press the smooth blue bell's top section.",
+    "Direct the left arm to click the top of the bell with brown base.",
+    "Push the brown-bottomed bell's <top center> on the table",
+    "Use the left arm to touch the smooth blue bell's top center.",
+    "Press the round bell's top center with the left arm firmly.",
+    "Press down the bell with circular body's top center gently.",
+    "Press down the top of the blue bell using the left arm.",
+    "Have the left arm click at the compact bell with round base's top center.",
+    "Ask the left arm to interact with the bell with circular body's top.",
+    "Locate the round bell and click its top center.",
+    "Tap the small blue and brown bell's top center with the left arm.",
+    "Press the center top of the bell with brown base.",
+    "Pinpoint the brown-bottomed bell and click its top center.",
+    "Click the designated center of the bell with brown base.",
+    "Command the left arm to press the metal bell with plastic parts's top.",
+    "Press the center of the metal bell with plastic parts using the left arm.",
+    "Click using the left arm on the compact bell with round base's center.",
+    "Make the left arm interact with the blue bell's top center.",
+    "Press the top center of the smooth blue bell on table.",
+    "Click the bell with circular body's <top center> using the left arm",
+    "Direct the left arm to touch the blue dome-shaped bell's top.",
+    "Activate the small blue and brown bell by pressing its top center.",
+    "Press the specified top area of the small blue and brown bell.",
+    "Guide the left arm to click the blue bell's top center.",
+    "Tap the top center of the blue dome-shaped bell."
+  ],
+  "unseen": [
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Direct the left arm to click the palm-sized bell's top."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001215.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the round bell's top center using the left arm.",
+    "Press the center of the metal bell with plastic parts using the left arm.",
+    "Activate the blue bell by pressing its top center.",
+    "Push the center of the metal bell with plastic parts using the left arm.",
+    "Tap the top center of the flat-topped bell.",
+    "Use the left arm to touch the blue dome-shaped bell's top center.",
+    "Press the blue dome-shaped bell's top center on the table.",
+    "Guide the left arm to click the bell with circular body's top center.",
+    "Press down the small blue and brown bell's top center gently.",
+    "Make the left arm interact with the compact bell with round base's top center.",
+    "Press the specified top area of the small blue and brown bell.",
+    "Pinpoint the flat-topped bell and click its top center.",
+    "Tap the blue dome-shaped bell's top center with the left arm.",
+    "Have the left arm click at the bell with brown base's top center.",
+    "Press the metal bell with plastic parts's top center with the left arm firmly.",
+    "Click the top center of the smooth blue bell on table.",
+    "Locate the metal bell with plastic parts and click its top center.",
+    "Press the center top of the blue dome-shaped bell.",
+    "Click the bell with brown base's <top center> using the left arm",
+    "Press down the top of the smooth blue bell using the left arm.",
+    "Click the designated center of the smooth blue bell.",
+    "Direct the left arm to click the top of the blue bell.",
+    "Use the left arm to press the bell with circular body's top section.",
+    "Ask the left arm to interact with the compact bell with round base's top.",
+    "Direct the left arm to touch the bell with brown base's top.",
+    "Click using the left arm on the blue bell's center.",
+    "Tap the bell with brown base's top center with the left arm.",
+    "Push the round bell's <top center> on the table",
+    "Press the top center of the round bell on table.",
+    "Click the metal bell with plastic parts at its top center on table.",
+    "Command the left arm to press the bell with brown base's top.",
+    "Click the small blue and brown bell's top center using the left arm.",
+    "Press the center of the round bell using the left arm.",
+    "Activate the brown-bottomed bell by pressing its top center.",
+    "Push the center of the metal bell with plastic parts using the left arm.",
+    "Tap the top center of the blue dome-shaped bell.",
+    "Use the left arm to touch the smooth blue bell's top center.",
+    "Press the compact bell with round base's top center on the table.",
+    "Guide the left arm to click the blue bell's top center.",
+    "Press down the blue dome-shaped bell's top center gently.",
+    "Make the left arm interact with the brown-bottomed bell's top center.",
+    "Press the specified top area of the small blue and brown bell.",
+    "Pinpoint the flat-topped bell and click its top center.",
+    "Tap the compact bell with round base's top center with the left arm.",
+    "Have the left arm click at the blue dome-shaped bell's top center.",
+    "Press the metal bell with plastic parts's top center with the left arm firmly.",
+    "Click the top center of the round bell on table.",
+    "Locate the smooth blue bell and click its top center.",
+    "Press the center top of the compact bell with round base.",
+    "Click the flat-topped bell's <top center> using the left arm",
+    "Press down the top of the compact bell with round base using the left arm.",
+    "Click the designated center of the round bell.",
+    "Direct the left arm to click the top of the bell with protruding knob.",
+    "Use the left arm to press the bell with circular body's top section.",
+    "Ask the left arm to interact with the smooth blue bell's top.",
+    "Direct the left arm to touch the bell with protruding knob's top.",
+    "Click using the left arm on the smooth blue bell's center.",
+    "Tap the flat-topped bell's top center with the left arm.",
+    "Push the blue dome-shaped bell's <top center> on the table",
+    "Press the top center of the compact bell with round base on table.",
+    "Click the compact bell with round base at its top center on table.",
+    "Command the left arm to press the small blue and brown bell's top.",
+    "Click the blue bell's top center using the left arm.",
+    "Press the center of the bell with brown base using the left arm.",
+    "Activate the round bell by pressing its top center.",
+    "Push the center of the metal bell with plastic parts using the left arm.",
+    "Tap the top center of the metal bell with plastic parts.",
+    "Use the left arm to touch the blue dome-shaped bell's top center.",
+    "Press the small blue and brown bell's top center on the table.",
+    "Guide the left arm to click the small blue and brown bell's top center.",
+    "Press down the blue dome-shaped bell's top center gently.",
+    "Make the left arm interact with the round bell's top center.",
+    "Press the specified top area of the small blue and brown bell.",
+    "Pinpoint the round bell and click its top center.",
+    "Tap the bell with brown base's top center with the left arm.",
+    "Have the left arm click at the bell with protruding knob's top center.",
+    "Press the bell with brown base's top center with the left arm firmly.",
+    "Click the top center of the blue bell on table.",
+    "Locate the round bell and click its top center.",
+    "Press the center top of the brown-bottomed bell.",
+    "Click the brown-bottomed bell's <top center> using the left arm",
+    "Press down the top of the bell with brown base using the left arm.",
+    "Click the designated center of the metal bell with plastic parts.",
+    "Direct the left arm to click the top of the bell with protruding knob.",
+    "Use the left arm to press the bell with brown base's top section.",
+    "Ask the left arm to interact with the blue dome-shaped bell's top.",
+    "Direct the left arm to touch the blue dome-shaped bell's top.",
+    "Click using the left arm on the compact bell with round base's center.",
+    "Tap the metal bell with plastic parts's top center with the left arm.",
+    "Push the bell with circular body's <top center> on the table",
+    "Press the top center of the blue bell on table.",
+    "Click the bell with circular body at its top center on table.",
+    "Command the left arm to press the flat-topped bell's top.",
+    "Click the compact bell with round base's top center using the left arm.",
+    "Press the center of the blue bell using the left arm.",
+    "Activate the bell with circular body by pressing its top center.",
+    "Push the center of the blue bell using the left arm.",
+    "Tap the top center of the bell with protruding knob.",
+    "Use the left arm to touch the blue bell's top center.",
+    "Press the small blue and brown bell's top center on the table."
+  ],
+  "unseen": [
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the left arm to press the palm-sized bell's top center."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001219.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Locate the brown-bottomed bell and click its top center.",
+    "Use the left arm to touch the small blue and brown bell's top center.",
+    "Direct the left arm to click the top of the compact bell with round base.",
+    "Guide the left arm to click the small blue and brown bell's top center.",
+    "Press the center top of the round bell.",
+    "Direct the left arm to touch the smooth blue bell's top.",
+    "Make the left arm interact with the bell with protruding knob's top center.",
+    "Click the top center of the flat-topped bell on table.",
+    "Tap the brown-bottomed bell's top center with the left arm.",
+    "Tap the top center of the round bell.",
+    "Press the top center of the bell with protruding knob on table.",
+    "Press the bell with brown base's top center on the table.",
+    "Push the center of the bell with circular body using the left arm.",
+    "Ask the left arm to interact with the bell with circular body's top.",
+    "Command the left arm to press the bell with circular body's top.",
+    "Click the bell with protruding knob at its top center on table.",
+    "Pinpoint the blue dome-shaped bell and click its top center.",
+    "Press the specified top area of the metal bell with plastic parts.",
+    "Press the center of the brown-bottomed bell using the left arm.",
+    "Click using the left arm on the bell with protruding knob's center.",
+    "Click the designated center of the bell with brown base.",
+    "Press down the small blue and brown bell's top center gently.",
+    "Press the blue bell's top center with the left arm firmly.",
+    "Tap the blue dome-shaped bell's top center with the left arm.",
+    "Have the left arm click at the bell with protruding knob's top center.",
+    "Press down the top of the small blue and brown bell using the left arm.",
+    "Push the metal bell with plastic parts's <top center> on the table",
+    "Use the left arm to press the blue bell's top section.",
+    "Activate the brown-bottomed bell by pressing its top center.",
+    "Click the bell with brown base's <top center> using the left arm",
+    "Click the bell with protruding knob's top center using the left arm.",
+    "Locate the blue bell and click its top center.",
+    "Use the left arm to touch the round bell's top center.",
+    "Direct the left arm to click the top of the smooth blue bell.",
+    "Guide the left arm to click the bell with circular body's top center.",
+    "Press the center top of the metal bell with plastic parts.",
+    "Direct the left arm to touch the brown-bottomed bell's top.",
+    "Make the left arm interact with the small blue and brown bell's top center.",
+    "Click the top center of the blue dome-shaped bell on table.",
+    "Tap the flat-topped bell's top center with the left arm.",
+    "Tap the top center of the brown-bottomed bell.",
+    "Press the top center of the round bell on table.",
+    "Press the compact bell with round base's top center on the table.",
+    "Push the center of the bell with brown base using the left arm.",
+    "Ask the left arm to interact with the blue dome-shaped bell's top.",
+    "Command the left arm to press the round bell's top.",
+    "Click the smooth blue bell at its top center on table.",
+    "Pinpoint the brown-bottomed bell and click its top center.",
+    "Press the specified top area of the flat-topped bell.",
+    "Press the center of the metal bell with plastic parts using the left arm.",
+    "Click using the left arm on the blue bell's center.",
+    "Click the designated center of the bell with brown base.",
+    "Press down the small blue and brown bell's top center gently.",
+    "Press the blue bell's top center with the left arm firmly.",
+    "Tap the brown-bottomed bell's top center with the left arm.",
+    "Have the left arm click at the small blue and brown bell's top center.",
+    "Press down the top of the small blue and brown bell using the left arm.",
+    "Push the compact bell with round base's <top center> on the table",
+    "Use the left arm to press the bell with circular body's top section.",
+    "Activate the compact bell with round base by pressing its top center.",
+    "Click the bell with brown base's <top center> using the left arm",
+    "Click the blue bell's top center using the left arm.",
+    "Locate the bell with brown base and click its top center.",
+    "Use the left arm to touch the blue dome-shaped bell's top center.",
+    "Direct the left arm to click the top of the bell with circular body.",
+    "Guide the left arm to click the smooth blue bell's top center.",
+    "Press the center top of the small blue and brown bell.",
+    "Direct the left arm to touch the metal bell with plastic parts's top.",
+    "Make the left arm interact with the brown-bottomed bell's top center.",
+    "Click the top center of the round bell on table.",
+    "Tap the blue bell's top center with the left arm.",
+    "Tap the top center of the brown-bottomed bell.",
+    "Press the top center of the bell with protruding knob on table.",
+    "Press the bell with protruding knob's top center on the table.",
+    "Push the center of the metal bell with plastic parts using the left arm.",
+    "Ask the left arm to interact with the compact bell with round base's top.",
+    "Command the left arm to press the round bell's top.",
+    "Click the blue dome-shaped bell at its top center on table.",
+    "Pinpoint the smooth blue bell and click its top center.",
+    "Press the specified top area of the metal bell with plastic parts.",
+    "Press the center of the brown-bottomed bell using the left arm.",
+    "Click using the left arm on the bell with brown base's center.",
+    "Click the designated center of the compact bell with round base.",
+    "Press down the bell with circular body's top center gently.",
+    "Press the blue dome-shaped bell's top center with the left arm firmly.",
+    "Tap the metal bell with plastic parts's top center with the left arm.",
+    "Have the left arm click at the brown-bottomed bell's top center.",
+    "Press down the top of the round bell using the left arm.",
+    "Push the small blue and brown bell's <top center> on the table",
+    "Use the left arm to press the bell with circular body's top section.",
+    "Activate the small blue and brown bell by pressing its top center.",
+    "Click the brown-bottomed bell's <top center> using the left arm",
+    "Click the bell with circular body's top center using the left arm.",
+    "Locate the compact bell with round base and click its top center.",
+    "Use the left arm to touch the brown-bottomed bell's top center.",
+    "Direct the left arm to click the top of the round bell.",
+    "Guide the left arm to click the brown-bottomed bell's top center.",
+    "Press the center top of the blue bell.",
+    "Direct the left arm to touch the metal bell with plastic parts's top.",
+    "Make the left arm interact with the brown-bottomed bell's top center."
+  ],
+  "unseen": [
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Find the palm-sized bell and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Find the bell with raised round top and click its top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Use the left arm to press the palm-sized bell's top center.",
+    "Click the top center of the blue bell with glossy finish."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001221.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Tap the top center of the white bell with black bottom.",
+    "Press the specified top area of the white bell with black bottom.",
+    "Press the center top of the white bell.",
+    "Use the left arm to touch the simple hand bell with black stand's top center.",
+    "Command the left arm to press the bell with metallic top and plastic base's top.",
+    "Press the center of the white dome bell using the left arm.",
+    "Ask the left arm to interact with the rounded bell with flat black part's top.",
+    "Press the top center of the white bell with black bottom on table.",
+    "Have the left arm click at the rounded bell with flat black part's top center.",
+    "Tap the bell with black flat base's top center with the left arm.",
+    "Press down the top of the bell with metallic top and plastic base using the left arm.",
+    "Click the plastic and metal bell's <top center> using the left arm",
+    "Click the designated center of the bell shaped like half-circle dome.",
+    "Activate the bell with black flat base by pressing its top center.",
+    "Press the simple hand bell with black stand's top center on the table.",
+    "Push the small desk bell for tapping's <top center> on the table",
+    "Pinpoint the white and black colored bell and click its top center.",
+    "Direct the left arm to click the top of the small desk bell for tapping.",
+    "Click the top center of the plastic and metal bell on table.",
+    "Make the left arm interact with the white and black colored bell's top center.",
+    "Press the bell shaped like half-circle dome's top center with the left arm firmly.",
+    "Push the center of the bell shaped like half-circle dome using the left arm.",
+    "Direct the left arm to touch the simple hand bell with black stand's top.",
+    "Click using the left arm on the bell with black flat base's center.",
+    "Click the small desk bell for tapping's top center using the left arm.",
+    "Click the white bell with black bottom at its top center on table.",
+    "Guide the left arm to click the bell with black flat base's top center.",
+    "Press down the bell with metallic top and plastic base's top center gently.",
+    "Tap the simple hand bell with black stand's top center with the left arm.",
+    "Use the left arm to press the white dome bell's top section.",
+    "Locate the plastic and metal bell and click its top center.",
+    "Tap the top center of the white bell.",
+    "Press the specified top area of the compact tabletop bell.",
+    "Press the center top of the plastic and metal bell.",
+    "Use the left arm to touch the compact tabletop bell's top center.",
+    "Command the left arm to press the white and black colored bell's top.",
+    "Press the center of the bell with black flat base using the left arm.",
+    "Ask the left arm to interact with the bell with black flat base's top.",
+    "Press the top center of the bell shaped like half-circle dome on table.",
+    "Have the left arm click at the plastic and metal bell's top center.",
+    "Tap the bell with metallic top and plastic base's top center with the left arm.",
+    "Press down the top of the rounded bell with flat black part using the left arm.",
+    "Click the rounded bell with flat black part's <top center> using the left arm",
+    "Click the designated center of the simple hand bell with black stand.",
+    "Activate the white bell with black bottom by pressing its top center.",
+    "Press the plastic and metal bell's top center on the table.",
+    "Push the white bell with black bottom's <top center> on the table",
+    "Pinpoint the bell with black flat base and click its top center.",
+    "Direct the left arm to click the top of the plastic and metal bell.",
+    "Click the top center of the bell with black flat base on table.",
+    "Make the left arm interact with the white bell's top center.",
+    "Press the white dome bell's top center with the left arm firmly.",
+    "Push the center of the compact tabletop bell using the left arm.",
+    "Direct the left arm to touch the compact tabletop bell's top.",
+    "Click using the left arm on the bell with metallic top and plastic base's center.",
+    "Click the white bell with black bottom's top center using the left arm.",
+    "Click the bell with black flat base at its top center on table.",
+    "Guide the left arm to click the rounded bell with flat black part's top center.",
+    "Press down the small desk bell for tapping's top center gently.",
+    "Tap the bell shaped like half-circle dome's top center with the left arm.",
+    "Use the left arm to press the bell with metallic top and plastic base's top section.",
+    "Locate the white bell and click its top center.",
+    "Tap the top center of the small desk bell for tapping.",
+    "Press the specified top area of the bell with black flat base.",
+    "Press the center top of the plastic and metal bell.",
+    "Use the left arm to touch the rounded bell with flat black part's top center.",
+    "Command the left arm to press the bell shaped like half-circle dome's top.",
+    "Press the center of the small desk bell for tapping using the left arm.",
+    "Ask the left arm to interact with the bell with black flat base's top.",
+    "Press the top center of the white bell on table.",
+    "Have the left arm click at the rounded bell with flat black part's top center.",
+    "Tap the rounded bell with flat black part's top center with the left arm.",
+    "Press down the top of the bell shaped like half-circle dome using the left arm.",
+    "Click the white and black colored bell's <top center> using the left arm",
+    "Click the designated center of the bell shaped like half-circle dome.",
+    "Activate the bell with metallic top and plastic base by pressing its top center.",
+    "Press the bell shaped like half-circle dome's top center on the table.",
+    "Push the bell with black flat base's <top center> on the table",
+    "Pinpoint the bell with metallic top and plastic base and click its top center.",
+    "Direct the left arm to click the top of the simple hand bell with black stand.",
+    "Click the top center of the bell shaped like half-circle dome on table.",
+    "Make the left arm interact with the bell with black flat base's top center.",
+    "Press the white dome bell's top center with the left arm firmly.",
+    "Push the center of the bell with black flat base using the left arm.",
+    "Direct the left arm to touch the bell with metallic top and plastic base's top.",
+    "Click using the left arm on the bell shaped like half-circle dome's center.",
+    "Click the compact tabletop bell's top center using the left arm.",
+    "Click the simple hand bell with black stand at its top center on table.",
+    "Guide the left arm to click the white and black colored bell's top center.",
+    "Press down the bell with metallic top and plastic base's top center gently.",
+    "Tap the small desk bell for tapping's top center with the left arm.",
+    "Use the left arm to press the white bell's top section.",
+    "Locate the plastic and metal bell and click its top center.",
+    "Tap the top center of the bell shaped like half-circle dome.",
+    "Press the specified top area of the small desk bell for tapping.",
+    "Press the center top of the rounded bell with flat black part.",
+    "Use the left arm to touch the simple hand bell with black stand's top center.",
+    "Command the left arm to press the white and black colored bell's top.",
+    "Press the center of the bell shaped like half-circle dome using the left arm.",
+    "Ask the left arm to interact with the white and black colored bell's top."
+  ],
+  "unseen": [
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the top center of the smooth metal bell.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the top center of the medium-sized bell.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the top center of the medium-sized bell.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the top center of the medium-sized bell.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the top center of the medium-sized bell.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the top center of the medium-sized bell.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the top center of the smooth metal bell.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the top center of the smooth metal bell.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Click the top center of the medium-sized bell.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Click the medium-sized bell's top center on the table.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the top center of the medium-sized bell.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the top center of the smooth metal bell.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Use the left arm to press the medium-sized bell's top center."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10002012.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Locate the small blue and brown bell and click its top center.",
+    "Press the metal bell with plastic parts's top center on the table.",
+    "Press the specified top area of the bell with protruding knob.",
+    "Use the right arm to press the bell with brown base's top section.",
+    "Make the right arm interact with the flat-topped bell's top center.",
+    "Press down the top of the metal bell with plastic parts using the right arm.",
+    "Click the round bell's <top center> using the right arm",
+    "Use the right arm to touch the bell with brown base's top center.",
+    "Guide the right arm to click the blue dome-shaped bell's top center.",
+    "Have the right arm click at the brown-bottomed bell's top center.",
+    "Tap the bell with protruding knob's top center with the right arm.",
+    "Direct the right arm to touch the round bell's top.",
+    "Command the right arm to press the bell with protruding knob's top.",
+    "Push the flat-topped bell's <top center> on the table",
+    "Press down the smooth blue bell's top center gently.",
+    "Press the center top of the blue dome-shaped bell.",
+    "Click the bell with brown base's top center using the right arm.",
+    "Ask the right arm to interact with the blue bell's top.",
+    "Tap the flat-topped bell's top center with the right arm.",
+    "Activate the flat-topped bell by pressing its top center.",
+    "Tap the top center of the round bell.",
+    "Press the flat-topped bell's top center with the right arm firmly.",
+    "Click the designated center of the blue dome-shaped bell.",
+    "Click the top center of the metal bell with plastic parts on table.",
+    "Pinpoint the small blue and brown bell and click its top center.",
+    "Click the smooth blue bell at its top center on table.",
+    "Click using the right arm on the compact bell with round base's center.",
+    "Press the center of the compact bell with round base using the right arm.",
+    "Direct the right arm to click the top of the metal bell with plastic parts.",
+    "Press the top center of the bell with circular body on table.",
+    "Push the center of the brown-bottomed bell using the right arm.",
+    "Locate the bell with circular body and click its top center.",
+    "Press the blue dome-shaped bell's top center on the table.",
+    "Press the specified top area of the smooth blue bell.",
+    "Use the right arm to press the bell with circular body's top section.",
+    "Make the right arm interact with the brown-bottomed bell's top center.",
+    "Press down the top of the metal bell with plastic parts using the right arm.",
+    "Click the small blue and brown bell's <top center> using the right arm",
+    "Use the right arm to touch the smooth blue bell's top center.",
+    "Guide the right arm to click the bell with brown base's top center.",
+    "Have the right arm click at the bell with protruding knob's top center.",
+    "Tap the small blue and brown bell's top center with the right arm.",
+    "Direct the right arm to touch the round bell's top.",
+    "Command the right arm to press the blue bell's top.",
+    "Push the metal bell with plastic parts's <top center> on the table",
+    "Press down the flat-topped bell's top center gently.",
+    "Press the center top of the round bell.",
+    "Click the blue dome-shaped bell's top center using the right arm.",
+    "Ask the right arm to interact with the smooth blue bell's top.",
+    "Tap the smooth blue bell's top center with the right arm.",
+    "Activate the bell with brown base by pressing its top center.",
+    "Tap the top center of the blue bell.",
+    "Press the smooth blue bell's top center with the right arm firmly.",
+    "Click the designated center of the bell with circular body.",
+    "Click the top center of the round bell on table.",
+    "Pinpoint the bell with circular body and click its top center.",
+    "Click the blue dome-shaped bell at its top center on table.",
+    "Click using the right arm on the metal bell with plastic parts's center.",
+    "Press the center of the metal bell with plastic parts using the right arm.",
+    "Direct the right arm to click the top of the bell with circular body.",
+    "Press the top center of the flat-topped bell on table.",
+    "Push the center of the blue bell using the right arm.",
+    "Locate the small blue and brown bell and click its top center.",
+    "Press the smooth blue bell's top center on the table.",
+    "Press the specified top area of the blue bell.",
+    "Use the right arm to press the flat-topped bell's top section.",
+    "Make the right arm interact with the metal bell with plastic parts's top center.",
+    "Press down the top of the blue bell using the right arm.",
+    "Click the small blue and brown bell's <top center> using the right arm",
+    "Use the right arm to touch the bell with protruding knob's top center.",
+    "Guide the right arm to click the metal bell with plastic parts's top center.",
+    "Have the right arm click at the round bell's top center.",
+    "Tap the bell with protruding knob's top center with the right arm.",
+    "Direct the right arm to touch the small blue and brown bell's top.",
+    "Command the right arm to press the blue bell's top.",
+    "Push the smooth blue bell's <top center> on the table",
+    "Press down the bell with circular body's top center gently.",
+    "Press the center top of the small blue and brown bell.",
+    "Click the small blue and brown bell's top center using the right arm.",
+    "Ask the right arm to interact with the brown-bottomed bell's top.",
+    "Tap the compact bell with round base's top center with the right arm.",
+    "Activate the metal bell with plastic parts by pressing its top center.",
+    "Tap the top center of the smooth blue bell.",
+    "Press the small blue and brown bell's top center with the right arm firmly.",
+    "Click the designated center of the compact bell with round base.",
+    "Click the top center of the round bell on table.",
+    "Pinpoint the brown-bottomed bell and click its top center.",
+    "Click the bell with brown base at its top center on table.",
+    "Click using the right arm on the flat-topped bell's center.",
+    "Press the center of the blue bell using the right arm.",
+    "Direct the right arm to click the top of the blue bell.",
+    "Press the top center of the blue bell on table.",
+    "Push the center of the metal bell with plastic parts using the right arm.",
+    "Locate the bell with circular body and click its top center.",
+    "Press the compact bell with round base's top center on the table.",
+    "Press the specified top area of the bell with brown base.",
+    "Use the right arm to press the bell with protruding knob's top section.",
+    "Make the right arm interact with the blue bell's top center.",
+    "Press down the top of the smooth blue bell using the right arm.",
+    "Click the bell with protruding knob's <top center> using the right arm"
+  ],
+  "unseen": [
+    "Find the palm-sized bell and click its top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the palm-sized bell.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Find the bell with raised round top and click its top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Click the top center of the bell with raised round top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Find the palm-sized bell and click its top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10002026.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Tap the top center of the bell with black flat base.",
+    "Click using the left arm on the bell with metallic top and plastic base's center.",
+    "Activate the white bell with black bottom by pressing its top center.",
+    "Press the center of the bell with metallic top and plastic base using the left arm.",
+    "Locate the bell shaped like half-circle dome and click its top center.",
+    "Use the left arm to press the white and black colored bell's top section.",
+    "Pinpoint the plastic and metal bell and click its top center.",
+    "Press the top center of the small desk bell for tapping on table.",
+    "Make the left arm interact with the compact tabletop bell's top center.",
+    "Command the left arm to press the bell with metallic top and plastic base's top.",
+    "Direct the left arm to click the top of the white bell with black bottom.",
+    "Have the left arm click at the bell with metallic top and plastic base's top center.",
+    "Click the designated center of the plastic and metal bell.",
+    "Press the specified top area of the bell with black flat base.",
+    "Press down the top of the white and black colored bell using the left arm.",
+    "Ask the left arm to interact with the simple hand bell with black stand's top.",
+    "Press the bell with black flat base's top center with the left arm firmly.",
+    "Click the top center of the white and black colored bell on table.",
+    "Click the small desk bell for tapping at its top center on table.",
+    "Click the white bell's <top center> using the left arm",
+    "Press the center top of the simple hand bell with black stand.",
+    "Use the left arm to touch the bell with metallic top and plastic base's top center.",
+    "Push the center of the small desk bell for tapping using the left arm.",
+    "Press the white bell with black bottom's top center on the table.",
+    "Direct the left arm to touch the white and black colored bell's top.",
+    "Press down the bell shaped like half-circle dome's top center gently.",
+    "Tap the plastic and metal bell's top center with the left arm.",
+    "Guide the left arm to click the white bell with black bottom's top center.",
+    "Click the white and black colored bell's top center using the left arm.",
+    "Tap the bell with metallic top and plastic base's top center with the left arm.",
+    "Push the small desk bell for tapping's <top center> on the table",
+    "Tap the top center of the compact tabletop bell.",
+    "Click using the left arm on the bell with black flat base's center.",
+    "Activate the white dome bell by pressing its top center.",
+    "Press the center of the plastic and metal bell using the left arm.",
+    "Locate the compact tabletop bell and click its top center.",
+    "Use the left arm to press the bell with metallic top and plastic base's top section.",
+    "Pinpoint the bell shaped like half-circle dome and click its top center.",
+    "Press the top center of the small desk bell for tapping on table.",
+    "Make the left arm interact with the compact tabletop bell's top center.",
+    "Command the left arm to press the bell with metallic top and plastic base's top.",
+    "Direct the left arm to click the top of the white and black colored bell.",
+    "Have the left arm click at the white dome bell's top center.",
+    "Click the designated center of the plastic and metal bell.",
+    "Press the specified top area of the bell shaped like half-circle dome.",
+    "Press down the top of the white dome bell using the left arm.",
+    "Ask the left arm to interact with the white bell with black bottom's top.",
+    "Press the bell with metallic top and plastic base's top center with the left arm firmly.",
+    "Click the top center of the bell shaped like half-circle dome on table.",
+    "Click the white bell with black bottom at its top center on table.",
+    "Click the white dome bell's <top center> using the left arm",
+    "Press the center top of the bell shaped like half-circle dome.",
+    "Use the left arm to touch the rounded bell with flat black part's top center.",
+    "Push the center of the simple hand bell with black stand using the left arm.",
+    "Press the white bell's top center on the table.",
+    "Direct the left arm to touch the white dome bell's top.",
+    "Press down the compact tabletop bell's top center gently.",
+    "Tap the small desk bell for tapping's top center with the left arm.",
+    "Guide the left arm to click the small desk bell for tapping's top center.",
+    "Click the white and black colored bell's top center using the left arm.",
+    "Tap the white and black colored bell's top center with the left arm.",
+    "Push the rounded bell with flat black part's <top center> on the table",
+    "Tap the top center of the bell shaped like half-circle dome.",
+    "Click using the left arm on the simple hand bell with black stand's center.",
+    "Activate the bell with metallic top and plastic base by pressing its top center.",
+    "Press the center of the bell with black flat base using the left arm.",
+    "Locate the white bell with black bottom and click its top center.",
+    "Use the left arm to press the rounded bell with flat black part's top section.",
+    "Pinpoint the small desk bell for tapping and click its top center.",
+    "Press the top center of the small desk bell for tapping on table.",
+    "Make the left arm interact with the plastic and metal bell's top center.",
+    "Command the left arm to press the bell shaped like half-circle dome's top.",
+    "Direct the left arm to click the top of the bell shaped like half-circle dome.",
+    "Have the left arm click at the bell shaped like half-circle dome's top center.",
+    "Click the designated center of the white bell with black bottom.",
+    "Press the specified top area of the rounded bell with flat black part.",
+    "Press down the top of the white dome bell using the left arm.",
+    "Ask the left arm to interact with the simple hand bell with black stand's top.",
+    "Press the white dome bell's top center with the left arm firmly.",
+    "Click the top center of the white bell with black bottom on table.",
+    "Click the bell shaped like half-circle dome at its top center on table.",
+    "Click the small desk bell for tapping's <top center> using the left arm",
+    "Press the center top of the white bell with black bottom.",
+    "Use the left arm to touch the white and black colored bell's top center.",
+    "Push the center of the compact tabletop bell using the left arm.",
+    "Press the white and black colored bell's top center on the table.",
+    "Direct the left arm to touch the small desk bell for tapping's top.",
+    "Press down the bell with metallic top and plastic base's top center gently.",
+    "Tap the white bell with black bottom's top center with the left arm.",
+    "Guide the left arm to click the white and black colored bell's top center.",
+    "Click the bell with black flat base's top center using the left arm.",
+    "Tap the bell with metallic top and plastic base's top center with the left arm.",
+    "Push the bell shaped like half-circle dome's <top center> on the table",
+    "Tap the top center of the white bell.",
+    "Click using the left arm on the bell with metallic top and plastic base's center.",
+    "Activate the bell with black flat base by pressing its top center.",
+    "Press the center of the bell with metallic top and plastic base using the left arm.",
+    "Locate the rounded bell with flat black part and click its top center.",
+    "Use the left arm to press the bell with black flat base's top section.",
+    "Pinpoint the small desk bell for tapping and click its top center."
+  ],
+  "unseen": [
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "Find the smooth metal bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Use the left arm to press the medium-sized bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10002035.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Have the right arm click at the bell with circular body's top center.",
+    "Tap the bell with brown base's top center with the right arm.",
+    "Use the right arm to touch the flat-topped bell's top center.",
+    "Click the top center of the flat-topped bell on table.",
+    "Tap the top center of the brown-bottomed bell.",
+    "Use the right arm to press the smooth blue bell's top section.",
+    "Make the right arm interact with the bell with protruding knob's top center.",
+    "Click the designated center of the blue dome-shaped bell.",
+    "Ask the right arm to interact with the bell with protruding knob's top.",
+    "Push the center of the blue dome-shaped bell using the right arm.",
+    "Guide the right arm to click the metal bell with plastic parts's top center.",
+    "Command the right arm to press the brown-bottomed bell's top.",
+    "Locate the bell with circular body and click its top center.",
+    "Pinpoint the bell with brown base and click its top center.",
+    "Direct the right arm to touch the metal bell with plastic parts's top.",
+    "Click the flat-topped bell's <top center> using the right arm",
+    "Press the center top of the flat-topped bell.",
+    "Push the blue bell's <top center> on the table",
+    "Press down the small blue and brown bell's top center gently.",
+    "Click using the right arm on the metal bell with plastic parts's center.",
+    "Press the bell with protruding knob's top center with the right arm firmly.",
+    "Tap the round bell's top center with the right arm.",
+    "Press the blue dome-shaped bell's top center on the table.",
+    "Press the specified top area of the blue dome-shaped bell.",
+    "Activate the blue bell by pressing its top center.",
+    "Click the blue dome-shaped bell at its top center on table.",
+    "Press the center of the smooth blue bell using the right arm.",
+    "Press down the top of the bell with circular body using the right arm.",
+    "Click the blue dome-shaped bell's top center using the right arm.",
+    "Direct the right arm to click the top of the metal bell with plastic parts.",
+    "Press the top center of the brown-bottomed bell on table.",
+    "Have the right arm click at the blue dome-shaped bell's top center.",
+    "Tap the small blue and brown bell's top center with the right arm.",
+    "Use the right arm to touch the bell with circular body's top center.",
+    "Click the top center of the bell with brown base on table.",
+    "Tap the top center of the blue bell.",
+    "Use the right arm to press the brown-bottomed bell's top section.",
+    "Make the right arm interact with the bell with brown base's top center.",
+    "Click the designated center of the smooth blue bell.",
+    "Ask the right arm to interact with the small blue and brown bell's top.",
+    "Push the center of the flat-topped bell using the right arm.",
+    "Guide the right arm to click the blue bell's top center.",
+    "Command the right arm to press the blue bell's top.",
+    "Locate the bell with circular body and click its top center.",
+    "Pinpoint the round bell and click its top center.",
+    "Direct the right arm to touch the bell with protruding knob's top.",
+    "Click the blue dome-shaped bell's <top center> using the right arm",
+    "Press the center top of the bell with protruding knob.",
+    "Push the metal bell with plastic parts's <top center> on the table",
+    "Press down the round bell's top center gently.",
+    "Click using the right arm on the blue dome-shaped bell's center.",
+    "Press the brown-bottomed bell's top center with the right arm firmly.",
+    "Tap the flat-topped bell's top center with the right arm.",
+    "Press the bell with brown base's top center on the table.",
+    "Press the specified top area of the blue bell.",
+    "Activate the bell with protruding knob by pressing its top center.",
+    "Click the bell with protruding knob at its top center on table.",
+    "Press the center of the metal bell with plastic parts using the right arm.",
+    "Press down the top of the bell with circular body using the right arm.",
+    "Click the smooth blue bell's top center using the right arm.",
+    "Direct the right arm to click the top of the round bell.",
+    "Press the top center of the round bell on table.",
+    "Have the right arm click at the blue bell's top center.",
+    "Tap the brown-bottomed bell's top center with the right arm.",
+    "Use the right arm to touch the compact bell with round base's top center.",
+    "Click the top center of the metal bell with plastic parts on table.",
+    "Tap the top center of the blue bell.",
+    "Use the right arm to press the blue dome-shaped bell's top section.",
+    "Make the right arm interact with the round bell's top center.",
+    "Click the designated center of the small blue and brown bell.",
+    "Ask the right arm to interact with the bell with protruding knob's top.",
+    "Push the center of the small blue and brown bell using the right arm.",
+    "Guide the right arm to click the metal bell with plastic parts's top center.",
+    "Command the right arm to press the flat-topped bell's top.",
+    "Locate the compact bell with round base and click its top center.",
+    "Pinpoint the round bell and click its top center.",
+    "Direct the right arm to touch the round bell's top.",
+    "Click the brown-bottomed bell's <top center> using the right arm",
+    "Press the center top of the compact bell with round base.",
+    "Push the smooth blue bell's <top center> on the table",
+    "Press down the blue dome-shaped bell's top center gently.",
+    "Click using the right arm on the small blue and brown bell's center.",
+    "Press the flat-topped bell's top center with the right arm firmly.",
+    "Tap the blue dome-shaped bell's top center with the right arm.",
+    "Press the bell with circular body's top center on the table.",
+    "Press the specified top area of the brown-bottomed bell.",
+    "Activate the compact bell with round base by pressing its top center.",
+    "Click the brown-bottomed bell at its top center on table.",
+    "Press the center of the blue dome-shaped bell using the right arm.",
+    "Press down the top of the metal bell with plastic parts using the right arm.",
+    "Click the compact bell with round base's top center using the right arm.",
+    "Direct the right arm to click the top of the bell with brown base.",
+    "Press the top center of the metal bell with plastic parts on table.",
+    "Have the right arm click at the blue bell's top center.",
+    "Tap the round bell's top center with the right arm.",
+    "Use the right arm to touch the smooth blue bell's top center.",
+    "Click the top center of the flat-topped bell on table.",
+    "Tap the top center of the round bell.",
+    "Use the right arm to press the round bell's top section.",
+    "Make the right arm interact with the bell with brown base's top center."
+  ],
+  "unseen": [
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the bell with raised round top and click its top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the blue bell with glossy finish's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the palm-sized bell.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the bell with raised round top's top center on the table.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the palm-sized bell's top center on the table.",
+    "Use the right arm to press the blue bell with glossy finish's top center.",
+    "Use the right arm to press the bell with raised round top's top center."
+  ]
+}