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diff --git a/collected_robotwin2.0_github_latest_data_filter_redundant_piper_12_tasks_randomized_clean_table/shake_bottle/episode10008361.hdf5 b/collected_robotwin2.0_github_latest_data_filter_redundant_piper_12_tasks_randomized_clean_table/shake_bottle/episode10008361.hdf5
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@@ -0,0 +1,3 @@
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diff --git a/collected_robotwin2.0_github_latest_data_filter_redundant_piper_12_tasks_randomized_clean_table/shake_bottle/episode10008366.hdf5 b/collected_robotwin2.0_github_latest_data_filter_redundant_piper_12_tasks_randomized_clean_table/shake_bottle/episode10008366.hdf5
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diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10002189.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10002189.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b658df4036ae8d2d8bf51e443b798234c905050
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10002189.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the nail-driving hammer using the left arm, hammer the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "With the left arm, grab the hammer for nails and beat the block.",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Lift the nail-driving hammer with the left arm then strike block",
+    "Use the medium-sized metal hammer to beat after grabbing with the left arm",
+    "Use the left arm to take the yellow and black hammer grip and strike",
+    "Lift the hammer for nails and hit the block",
+    "Take the handheld medium claw hammer using the left arm, hit the block.",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Grab the medium-sized metal hammer using the left arm and strike the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Take the plastic handle metal hammer and hammer the block",
+    "Grab the silver curved hammer head with the left arm and beat the block.",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "Pick up the hammer with two-tone handle with the left arm, strike the block.",
+    "Utilize the left arm to hold the plastic handle metal hammer and strike.",
+    "Make the left arm grab the black and yellow hammer grip and strike the block.",
+    "With the left arm, pick up the silver curved hammer head and strike the block.",
+    "Grab the plastic handle metal hammer using the left arm and hit the block",
+    "Hold the nail-driving hammer and pound the block.",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Take the silver hammer and beat the block",
+    "Grab the grippy handle hammer with the left arm and hit the block",
+    "Grab the silver curved hammer head with the left arm and strike block",
+    "Take the handheld medium claw hammer and smash the block.",
+    "Employ the left arm to grab the hammer with claw-shaped end and hit.",
+    "Grab the silver curved hammer head, then strike the block.",
+    "With the left arm, grab the black and yellow hammer grip and hit the block",
+    "Lift the medium-sized metal hammer using the left arm to hit the block.",
+    "Grab the hammer for nails using the left arm, then beat the block",
+    "Pick up the hammer with claw-shaped end and strike the block",
+    "Grab the nail-driving hammer with the left arm and hit block",
+    "Grab the silver hammer using the left arm then pound block",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Use the left arm to grab the yellow and black hammer grip and beat",
+    "With the left arm, grab the nail-driving hammer and hammer the block",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Pick up the hammer with claw-shaped end using the left arm then beat",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Use the left arm to grab the hammer with claw-shaped end and beat block",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Pick the hammer with claw-shaped end with the left arm and hit the block",
+    "Lift the nail-driving hammer and hit the block.",
+    "Pick the silver curved hammer head and strike the block.",
+    "Pick up the hammer for nails using the left arm, hammer the block.",
+    "Take the nail-driving hammer and beat the block",
+    "With the left arm, grab the nail-driving hammer and beat the block.",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Lift the grippy handle hammer with the left arm then strike block",
+    "Use the silver hammer to beat after grabbing with the left arm",
+    "Use the left arm to take the hammer with two-tone handle and strike",
+    "Lift the hammer for nails and hit the block",
+    "Take the nail-driving hammer using the left arm, hit the block.",
+    "Use the black and yellow hammer grip to hammer the block.",
+    "Grab the handheld medium claw hammer using the left arm and strike the block",
+    "Take the grippy handle hammer and strike the block",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Grab the hammer with claw-shaped end with the left arm and beat the block.",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Pick up the hammer with claw-shaped end with the left arm, strike the block.",
+    "Utilize the left arm to hold the nail-driving hammer and strike.",
+    "Make the left arm grab the hammer for nails and strike the block.",
+    "With the left arm, pick up the medium-sized metal hammer and strike the block.",
+    "Grab the hammer with claw-shaped end using the left arm and hit the block",
+    "Hold the silver hammer and pound the block.",
+    "Catch the grippy handle hammer and use it on the block.",
+    "Take the silver curved hammer head and beat the block",
+    "Grab the handheld medium claw hammer with the left arm and hit the block",
+    "Grab the silver curved hammer head with the left arm and strike block",
+    "Take the grippy handle hammer and smash the block.",
+    "Employ the left arm to grab the black and yellow hammer grip and hit.",
+    "Grab the plastic handle metal hammer, then strike the block.",
+    "With the left arm, grab the yellow and black hammer grip and hit the block",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Grab the plastic handle metal hammer with the left arm and hit block",
+    "Grab the handheld medium claw hammer using the left arm then pound block",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Take the hammer with two-tone handle and strike the block",
+    "Hold the hammer with claw-shaped end then hit the block",
+    "Use the left arm to grab the plastic handle metal hammer and beat",
+    "With the left arm, grab the nail-driving hammer and hammer the block",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Pick up the silver curved hammer head using the left arm then beat",
+    "Grab the medium-sized metal hammer and use it to hit",
+    "Use the left arm to grab the yellow and black hammer grip and beat block",
+    "Pick the hammer for nails from the table and strike",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Pick the hammer with claw-shaped end with the left arm and hit the block",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Pick the handheld medium claw hammer and strike the block."
+  ],
+  "unseen": [
+    "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 strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the 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 strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, 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",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat 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 hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "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 hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "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 hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat 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 hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with 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",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with black handle to strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10003210.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10003210.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b197c7c0cffe79c3346d5c461052fc68a0639d1
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10003210.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the silver hammer with the right arm, strike the block.",
+    "Take the silver hammer and beat the block",
+    "Grab the hammer with two-tone handle using the right arm and strike the block",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Grab the yellow and black hammer grip with the right arm and strike block",
+    "With the right arm, grab the grippy handle hammer and hit the block",
+    "Utilize the right arm to hold the medium-sized metal hammer and strike.",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "With the right arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Grab the hammer for nails with the right arm and hit block",
+    "Use the right arm to take the silver hammer and strike",
+    "Employ the right arm to grab the plastic handle metal hammer and hit.",
+    "Grab the handheld medium claw hammer with the right arm and beat the block.",
+    "Pick the silver hammer and strike the block.",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Grab the silver hammer using the right arm, then beat the block",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Grab the yellow and black hammer grip, then hit the block",
+    "Grab the hammer for nails using the right arm then pound block",
+    "Pick the yellow and black hammer grip and smash the block",
+    "With the right arm, grab the grippy handle hammer and beat the block.",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "Take the medium-sized metal hammer and strike the block",
+    "Hold the plastic handle metal hammer then hit the block",
+    "Pick up the silver hammer and strike the block",
+    "Use the plastic handle metal hammer to beat after grabbing with the right arm",
+    "Use the yellow and black hammer grip to hammer the block.",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Use the right arm to grab the hammer with two-tone handle and beat block",
+    "Lift the silver curved hammer head and hit the block.",
+    "Grip the plastic handle metal hammer firmly and hit the block.",
+    "Grab the nail-driving hammer using the right arm and hit the block",
+    "Make the right arm grab the nail-driving hammer and strike the block.",
+    "With the right arm, grab the hammer with claw-shaped end and hammer the block",
+    "Lift the silver hammer with the right arm then strike block",
+    "Pick up the hammer with claw-shaped end using the right arm then beat",
+    "Pick the hammer with two-tone handle with the right arm and hit the block",
+    "Take the silver hammer and strike the block",
+    "Catch the nail-driving hammer and use it on the block.",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Use the right arm to grab the silver curved hammer head and beat",
+    "Take the grippy handle hammer and hammer the block",
+    "Pick up the nail-driving hammer using the right arm, hammer the block.",
+    "Take the grippy handle hammer and beat the block",
+    "Lift the nail-driving hammer using the right arm to hit the block.",
+    "Grab the hammer for nails and use it to hit",
+    "Take the grippy handle hammer using the right arm, hit the block.",
+    "Grab the plastic handle metal hammer with the right arm and hit the block",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Pick up the silver hammer with the right arm, strike the block.",
+    "Take the nail-driving hammer and beat the block",
+    "Grab the hammer with claw-shaped end using the right arm and strike the block",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Grab the silver hammer with the right arm and strike block",
+    "With the right arm, grab the hammer for nails and hit the block",
+    "Utilize the right arm to hold the grippy handle hammer and strike.",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "With the right arm, pick up the medium-sized metal hammer and strike the block.",
+    "Grab the black and yellow hammer grip with the right arm and hit block",
+    "Use the right arm to take the silver hammer and strike",
+    "Employ the right arm to grab the black and yellow hammer grip and hit.",
+    "Grab the black and yellow hammer grip with the right arm and beat the block.",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Grab the handheld medium claw hammer using the right arm, then beat the block",
+    "Lift the nail-driving hammer and hit the block",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Grab the medium-sized metal hammer using the right arm then pound block",
+    "Pick the silver hammer and smash the block",
+    "With the right arm, grab the silver curved hammer head and beat the block.",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Take the black and yellow hammer grip and strike the block",
+    "Hold the silver hammer then hit the block",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Use the yellow and black hammer grip to beat after grabbing with the right arm",
+    "Use the grippy handle hammer to hammer the block.",
+    "Grab the silver hammer to beat the block.",
+    "Use the right arm to grab the handheld medium claw hammer and beat block",
+    "Lift the black and yellow hammer grip and hit the block.",
+    "Grip the nail-driving hammer firmly and hit the block.",
+    "Grab the handheld medium claw hammer using the right arm and hit the block",
+    "Make the right arm grab the plastic handle metal hammer and strike the block.",
+    "With the right arm, grab the silver hammer and hammer the block",
+    "Lift the silver curved hammer head with the right arm then strike block",
+    "Pick up the handheld medium claw hammer using the right arm then beat",
+    "Pick the nail-driving hammer with the right arm and hit the block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Catch the medium-sized metal hammer and use it on the block.",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Use the right arm to grab the medium-sized metal hammer and beat",
+    "Take the grippy handle hammer and hammer the block",
+    "Pick up the medium-sized metal hammer using the right arm, hammer the block.",
+    "Take the medium-sized metal hammer and beat the block",
+    "Lift the hammer for nails using the right arm to hit the block.",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Take the silver curved hammer head using the right arm, hit the block.",
+    "Grab the hammer with two-tone handle with the right arm and hit the block",
+    "Pick up the hammer with claw-shaped end and use it on the block"
+  ],
+  "unseen": [
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to 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 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.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to 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 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.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the right arm to 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 hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to 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 black handle and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to 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 hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to 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 hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and 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.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Use the right arm to 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 hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10003340.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10003340.json
new file mode 100644
index 0000000000000000000000000000000000000000..831ccd9c0faf43ec04b4d12ae0f8b196915bf741
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10003340.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the silver hammer to hammer the block.",
+    "Pick up the silver hammer and strike the block",
+    "Take the silver curved hammer head and beat the block",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "With the left arm, grab the grippy handle hammer and hit the block",
+    "Grab the black and yellow hammer grip using the left arm and strike the block",
+    "Use the nail-driving hammer to beat after grabbing with the left arm",
+    "Grab the handheld medium claw hammer with the left arm and strike block",
+    "With the left arm, pick up the yellow and black hammer grip and strike the block.",
+    "Employ the left arm to grab the black and yellow hammer grip and hit.",
+    "Use the left arm to grab the yellow and black hammer grip and beat",
+    "Grab the nail-driving hammer and use it to hit",
+    "Pick the grippy handle hammer with the left arm and hit the block",
+    "Take the medium-sized metal hammer and smash the block.",
+    "Pick the handheld medium claw hammer from the table and strike",
+    "Lift the black and yellow hammer grip with the left arm then strike block",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Grab the silver hammer with the left arm and hit the block",
+    "Take the black and yellow hammer grip and strike the block",
+    "Hold the silver curved hammer head then hit the block",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Grab the medium-sized metal hammer using the left arm then pound block",
+    "Lift the handheld medium claw hammer using the left arm to hit the block.",
+    "Take the nail-driving hammer using the left arm, hit the block.",
+    "Use the left arm to take the hammer for nails and strike",
+    "With the left arm, grab the black and yellow hammer grip and hammer the block",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Grab the hammer with claw-shaped end using the left arm and hit the block",
+    "Grab the silver curved hammer head using the left arm, then beat the block",
+    "Grab the medium-sized metal hammer with the left arm and beat the block.",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Pick up the nail-driving hammer with the left arm, strike the block.",
+    "Lift the silver curved hammer head and hit the block.",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Grab the nail-driving hammer to beat the block.",
+    "Grab the nail-driving hammer with the left arm and hit block",
+    "With the left arm, grab the medium-sized metal hammer and beat the block.",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "Use the left arm to grab the nail-driving hammer and beat block",
+    "Take the silver hammer and beat the block",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Take the grippy handle hammer and hammer the block",
+    "Make the left arm grab the handheld medium claw hammer and strike the block.",
+    "Hold the nail-driving hammer and pound the block.",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Pick up the plastic handle metal hammer and use it on the block",
+    "Utilize the left arm to hold the nail-driving hammer and strike.",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Pick up the hammer for nails and strike the block",
+    "Take the grippy handle hammer and beat the block",
+    "Beat the block after grabbing the hammer with claw-shaped end",
+    "With the left arm, grab the yellow and black hammer grip and hit the block",
+    "Grab the medium-sized metal hammer using the left arm and strike the block",
+    "Use the silver curved hammer head to beat after grabbing with the left arm",
+    "Grab the hammer with claw-shaped end with the left arm and strike block",
+    "With the left arm, pick up the hammer with two-tone handle and strike the block.",
+    "Employ the left arm to grab the silver hammer and hit.",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Pick the black and yellow hammer grip with the left arm and hit the block",
+    "Take the silver hammer and smash the block.",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Lift the hammer for nails with the left arm then strike block",
+    "Grab the hammer for nails, then hit the block",
+    "Grab the handheld medium claw hammer with the left arm and hit the block",
+    "Take the silver curved hammer head and strike the block",
+    "Hold the hammer for nails then hit the block",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Grab the silver hammer using the left arm then pound block",
+    "Lift the medium-sized metal hammer using the left arm to hit the block.",
+    "Take the silver hammer using the left arm, hit the block.",
+    "Use the left arm to take the hammer with claw-shaped end and strike",
+    "With the left arm, grab the hammer with two-tone handle and hammer the block",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Grab the medium-sized metal hammer using the left arm and hit the block",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Grab the hammer with claw-shaped end with the left arm and beat the block.",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Lift the medium-sized metal hammer, then beat the block.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Catch the handheld medium claw hammer and use it on the block.",
+    "Grab the hammer for nails to beat the block.",
+    "Grab the silver hammer with the left arm and hit block",
+    "With the left arm, grab the nail-driving hammer and beat the block.",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "Use the left arm to grab the yellow and black hammer grip and beat block",
+    "Take the silver hammer and beat the block",
+    "Pick up the hammer with claw-shaped end using the left arm, hammer the block.",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Make the left arm grab the plastic handle metal hammer and strike the block.",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Pick up the hammer for nails and use it on the block",
+    "Utilize the left arm to hold the plastic handle metal hammer and strike."
+  ],
+  "unseen": [
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the 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",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10004219.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10004219.json
new file mode 100644
index 0000000000000000000000000000000000000000..002670ece3082150e4334706d2fa980ea42aef0a
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10004219.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, pick up the silver curved hammer head and strike the block.",
+    "Use the hammer with claw-shaped end to beat after grabbing with the right arm",
+    "Grab the grippy handle hammer using the right arm and strike the block",
+    "With the right arm, grab the grippy handle hammer and hammer the block",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Pick up the hammer for nails and strike the block",
+    "Use the right arm to grab the hammer with two-tone handle and beat",
+    "Hold the grippy handle hammer and pound the block.",
+    "Use the right arm to grab the hammer with claw-shaped end and beat block",
+    "Grab the medium-sized metal hammer with the right arm and strike block",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Use the hammer with two-tone handle to hammer the block.",
+    "Lift the hammer with claw-shaped end and hit the block.",
+    "Grab the silver hammer with the right arm and beat the block.",
+    "Make the right arm grab the plastic handle metal hammer and strike the block.",
+    "Pick the handheld medium claw hammer with the right arm and hit the block",
+    "Take the black and yellow hammer grip and smash the block.",
+    "With the right arm, grab the silver hammer and beat the block.",
+    "Take the silver curved hammer head and strike the block",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Employ the right arm to grab the medium-sized metal hammer and hit.",
+    "Lift the grippy handle hammer using the right arm to hit the block.",
+    "Grab the handheld medium claw hammer to beat the block.",
+    "Grab the black and yellow hammer grip using the right arm then pound block",
+    "Grab the black and yellow hammer grip with the right arm and hit block",
+    "Take the grippy handle hammer and hammer the block",
+    "Grab the hammer with claw-shaped end using the right arm and hit the block",
+    "Grab the silver hammer using the right arm, then beat the block",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Beat the block after grabbing the grippy handle hammer",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "Pick up the hammer with claw-shaped end using the right arm then beat",
+    "Hold the hammer for nails then hit the block",
+    "With the right arm, grab the nail-driving hammer and hit the block",
+    "Pick up the hammer with two-tone handle with the right arm, strike the block.",
+    "Lift the hammer with two-tone handle and hit the block",
+    "Take the hammer with claw-shaped end and strike the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Grab the yellow and black hammer grip with the right arm and hit the block",
+    "Grab the hammer with claw-shaped end, then strike the block.",
+    "Pick the silver hammer and strike the block.",
+    "Lift the silver hammer with the right arm then strike block",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Use the right arm to take the handheld medium claw hammer and strike",
+    "Take the medium-sized metal hammer using the right arm, hit the block.",
+    "Utilize the right arm to hold the silver hammer and strike.",
+    "Pick up the silver curved hammer head using the right arm, hammer the block.",
+    "Pick the black and yellow hammer grip and smash the block",
+    "With the right arm, pick up the yellow and black hammer grip and strike the block.",
+    "Use the hammer for nails to beat after grabbing with the right arm",
+    "Grab the hammer for nails using the right arm and strike the block",
+    "With the right arm, grab the grippy handle hammer and hammer the block",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Use the right arm to grab the handheld medium claw hammer and beat",
+    "Hold the handheld medium claw hammer and pound the block.",
+    "Use the right arm to grab the medium-sized metal hammer and beat block",
+    "Grab the hammer for nails with the right arm and strike block",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Use the hammer for nails to hammer the block.",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Grab the plastic handle metal hammer with the right arm and beat the block.",
+    "Make the right arm grab the medium-sized metal hammer and strike the block.",
+    "Pick the hammer with two-tone handle with the right arm and hit the block",
+    "Take the hammer with claw-shaped end and smash the block.",
+    "With the right arm, grab the hammer for nails and beat the block.",
+    "Take the silver hammer and strike the block",
+    "Pick up the grippy handle hammer and use it on the block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Employ the right arm to grab the hammer with claw-shaped end and hit.",
+    "Lift the hammer for nails using the right arm to hit the block.",
+    "Grab the yellow and black hammer grip to beat the block.",
+    "Grab the silver hammer using the right arm then pound block",
+    "Grab the black and yellow hammer grip with the right arm and hit block",
+    "Take the silver curved hammer head and hammer the block",
+    "Grab the black and yellow hammer grip using the right arm and hit the block",
+    "Grab the yellow and black hammer grip using the right arm, then beat the block",
+    "Grab the hammer for nails and use it to hit",
+    "Beat the block after grabbing the hammer for nails",
+    "Lift the silver hammer, then beat the block.",
+    "Pick up the grippy handle hammer using the right arm then beat",
+    "Hold the yellow and black hammer grip then hit the block",
+    "With the right arm, grab the hammer with two-tone handle and hit the block",
+    "Pick up the black and yellow hammer grip with the right arm, strike the block.",
+    "Lift the nail-driving hammer and hit the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Take the hammer for nails and beat the block",
+    "Grip the yellow and black hammer grip firmly and hit the block.",
+    "Grab the nail-driving hammer with the right arm and hit the block",
+    "Grab the yellow and black hammer grip, then strike the block.",
+    "Pick the grippy handle hammer and strike the block.",
+    "Lift the grippy handle hammer with the right arm then strike block",
+    "Pick the silver hammer from the table and strike",
+    "Use the right arm to take the grippy handle hammer and strike",
+    "Take the hammer for nails using the right arm, hit the block.",
+    "Utilize the right arm to hold the black and yellow hammer grip and strike.",
+    "Pick up the hammer for nails using the right arm, hammer the block.",
+    "Pick the grippy handle hammer and smash the block"
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the hammer with black handle to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the silver hammer head and claw to strike the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Pick the hammer with claw and smooth head up and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10005156.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10005156.json
new file mode 100644
index 0000000000000000000000000000000000000000..3898d91cfa54a7635c7dbf10657f8e0c1866b0f9
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10005156.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the handheld medium claw hammer and strike the block",
+    "Lift the plastic handle metal hammer with the left arm then strike block",
+    "With the left arm, grab the black and yellow hammer grip and hammer the block",
+    "With the left arm, grab the yellow and black hammer grip and beat the block.",
+    "Take the silver curved hammer head and strike the block",
+    "Pick the silver hammer from the table and strike",
+    "Take the nail-driving hammer and hammer the block",
+    "Pick the handheld medium claw hammer with the left arm and hit the block",
+    "Lift the silver curved hammer head using the left arm to hit the block.",
+    "Lift the hammer with two-tone handle and hit the block.",
+    "Pick the grippy handle hammer and smash the block",
+    "With the left arm, pick up the plastic handle metal hammer and strike the block.",
+    "Pick up the hammer with two-tone handle with the left arm, strike the block.",
+    "Utilize the left arm to hold the hammer with claw-shaped end and strike.",
+    "Take the hammer with two-tone handle and beat the block",
+    "Employ the left arm to grab the yellow and black hammer grip and hit.",
+    "Grab the silver hammer to beat the block.",
+    "Use the left arm to take the hammer with two-tone handle and strike",
+    "Use the nail-driving hammer to beat after grabbing with the left arm",
+    "Make the left arm grab the handheld medium claw hammer and strike the block.",
+    "Grab the silver curved hammer head using the left arm, then beat the block",
+    "Take the nail-driving hammer and beat the block",
+    "Grab the hammer with two-tone handle with the left arm and strike block",
+    "Grab the nail-driving hammer using the left arm and strike the block",
+    "Grab the yellow and black hammer grip with the left arm and hit the block",
+    "Pick up the grippy handle hammer and strike the block",
+    "Use the silver hammer to hammer the block.",
+    "Pick the yellow and black hammer grip and strike the block.",
+    "Pick up the silver curved hammer head using the left arm then beat",
+    "Use the left arm to grab the nail-driving hammer and beat block",
+    "Use the left arm to grab the silver curved hammer head and beat",
+    "Beat the block after grabbing the hammer for nails",
+    "Hold the yellow and black hammer grip then hit the block",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Pick up the grippy handle hammer using the left arm, hammer the block.",
+    "Grab the grippy handle hammer using the left arm then pound block",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Grab the yellow and black hammer grip with the left arm and beat the block.",
+    "Grab the handheld medium claw hammer and use it to hit",
+    "Lift the hammer for nails and hit the block",
+    "Grab the yellow and black hammer grip using the left arm and hit the block",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Grab the black and yellow hammer grip with the left arm and hit block",
+    "Pick up the hammer for nails and use it on the block",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Take the hammer with two-tone handle using the left arm, hit the block.",
+    "Take the silver curved hammer head and smash the block.",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "With the left arm, grab the silver curved hammer head and hit the block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Lift the handheld medium claw hammer with the left arm then strike block",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "With the left arm, grab the nail-driving hammer and beat the block.",
+    "Take the hammer for nails and strike the block",
+    "Pick the grippy handle hammer from the table and strike",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Pick the grippy handle hammer with the left arm and hit the block",
+    "Lift the silver curved hammer head using the left arm to hit the block.",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Pick the black and yellow hammer grip and smash the block",
+    "With the left arm, pick up the yellow and black hammer grip and strike the block.",
+    "Pick up the yellow and black hammer grip with the left arm, strike the block.",
+    "Utilize the left arm to hold the hammer for nails and strike.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Employ the left arm to grab the yellow and black hammer grip and hit.",
+    "Grab the silver hammer to beat the block.",
+    "Use the left arm to take the silver curved hammer head and strike",
+    "Use the hammer with two-tone handle to beat after grabbing with the left arm",
+    "Make the left arm grab the hammer with claw-shaped end and strike the block.",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Grab the yellow and black hammer grip with the left arm and strike block",
+    "Grab the nail-driving hammer using the left arm and strike the block",
+    "Grab the silver curved hammer head with the left arm and hit the block",
+    "Pick up the grippy handle hammer and strike the block",
+    "Use the medium-sized metal hammer to hammer the block.",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Pick up the handheld medium claw hammer using the left arm then beat",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "Use the left arm to grab the grippy handle hammer and beat",
+    "Beat the block after grabbing the medium-sized metal hammer",
+    "Hold the hammer for nails then hit the block",
+    "Grab the hammer for nails, then strike the block.",
+    "Pick up the grippy handle hammer using the left arm, hammer the block.",
+    "Grab the plastic handle metal hammer using the left arm then pound block",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Grab the nail-driving hammer with the left arm and beat the block.",
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Grab the hammer for nails using the left arm and hit the block",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Grab the hammer with two-tone handle with the left arm and hit block",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Lift the black and yellow hammer grip, then beat the block.",
+    "Hold the grippy handle hammer and pound the block.",
+    "Take the yellow and black hammer grip using the left arm, hit the block.",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Grab the silver curved hammer head, then hit the block",
+    "With the left arm, grab the silver hammer and hit the block"
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to 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 hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and 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 left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and 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 left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the 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 beat the block.",
+    "Pick the hammer with black handle up and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10005305.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10005305.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0590cb49a544b97173c0bfc35e1d073d75ee77b
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10005305.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to grab the black and yellow hammer grip and beat",
+    "Hold the hammer with two-tone handle and pound the block.",
+    "Use the right arm to grab the grippy handle hammer and beat block",
+    "Take the medium-sized metal hammer and beat the block",
+    "Grab the nail-driving hammer with the right arm and hit block",
+    "Lift the grippy handle hammer and hit the block",
+    "Beat the block after grabbing the hammer for nails",
+    "Pick the hammer with two-tone handle and strike the block.",
+    "Utilize the right arm to hold the hammer with claw-shaped end and strike.",
+    "Take the plastic handle metal hammer and strike the block",
+    "Pick up the grippy handle hammer using the right arm then beat",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Take the yellow and black hammer grip using the right arm, hit the block.",
+    "Employ the right arm to grab the handheld medium claw hammer and hit.",
+    "Take the silver hammer and smash the block.",
+    "Grab the medium-sized metal hammer with the right arm and strike block",
+    "Grab the hammer with two-tone handle using the right arm and strike the block",
+    "Use the plastic handle metal hammer to beat after grabbing with the right arm",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Grab the yellow and black hammer grip and use it to hit",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Hold the nail-driving hammer then hit the block",
+    "Grab the hammer for nails using the right arm then pound block",
+    "Grab the black and yellow hammer grip, then hit the block",
+    "Make the right arm grab the hammer with claw-shaped end and strike the block.",
+    "Pick up the hammer with claw-shaped end with the right arm, strike the block.",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Use the silver hammer to hammer the block.",
+    "Lift the silver hammer using the right arm to hit the block.",
+    "With the right arm, grab the handheld medium claw hammer and beat the block.",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Grab the nail-driving hammer to beat the block.",
+    "Take the silver curved hammer head and beat the block",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Use the right arm to take the hammer with claw-shaped end and strike",
+    "Grab the black and yellow hammer grip using the right arm and hit the block",
+    "Grab the black and yellow hammer grip with the right arm and hit the block",
+    "Pick up the grippy handle hammer using the right arm, hammer the block.",
+    "Lift the grippy handle hammer and hit the block.",
+    "Grab the silver curved hammer head with the right arm and beat the block.",
+    "Lift the hammer for nails with the right arm then strike block",
+    "Pick the medium-sized metal hammer with the right arm and hit the block",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "With the right arm, grab the black and yellow hammer grip and hit the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Take the hammer for nails and hammer the block",
+    "Grab the grippy handle hammer using the right arm, then beat the block",
+    "With the right arm, pick up the nail-driving hammer and strike the block.",
+    "With the right arm, grab the plastic handle metal hammer and hammer the block",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Use the right arm to grab the yellow and black hammer grip and beat",
+    "Hold the silver hammer and pound the block.",
+    "Use the right arm to grab the plastic handle metal hammer and beat block",
+    "Take the silver hammer and beat the block",
+    "Grab the nail-driving hammer with the right arm and hit block",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Beat the block after grabbing the hammer for nails",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Utilize the right arm to hold the plastic handle metal hammer and strike.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Pick up the hammer with two-tone handle using the right arm then beat",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Take the hammer with two-tone handle using the right arm, hit the block.",
+    "Employ the right arm to grab the handheld medium claw hammer and hit.",
+    "Take the plastic handle metal hammer and smash the block.",
+    "Grab the yellow and black hammer grip with the right arm and strike block",
+    "Grab the handheld medium claw hammer using the right arm and strike the block",
+    "Use the yellow and black hammer grip to beat after grabbing with the right arm",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Grab the hammer with two-tone handle and use it to hit",
+    "Pick up the hammer for nails and strike the block",
+    "Hold the nail-driving hammer then hit the block",
+    "Grab the plastic handle metal hammer using the right arm then pound block",
+    "Grab the silver hammer, then hit the block",
+    "Make the right arm grab the yellow and black hammer grip and strike the block.",
+    "Pick up the silver hammer with the right arm, strike the block.",
+    "Catch the yellow and black hammer grip and use it on the block.",
+    "Use the nail-driving hammer to hammer the block.",
+    "Lift the nail-driving hammer using the right arm to hit the block.",
+    "With the right arm, grab the handheld medium claw hammer and beat the block.",
+    "Lift the hammer for nails, then beat the block.",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Pick the hammer for nails from the table and strike",
+    "Use the right arm to take the handheld medium claw hammer and strike",
+    "Grab the yellow and black hammer grip using the right arm and hit the block",
+    "Grab the grippy handle hammer with the right arm and hit the block",
+    "Pick up the medium-sized metal hammer using the right arm, hammer the block.",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Grab the yellow and black hammer grip with the right arm and beat the block.",
+    "Lift the yellow and black hammer grip with the right arm then strike block",
+    "Pick the grippy handle hammer with the right arm and hit the block",
+    "Grab the silver hammer, then strike the block.",
+    "With the right arm, grab the black and yellow hammer grip and hit the block",
+    "Take the silver curved hammer head and strike the block",
+    "Take the yellow and black hammer grip and hammer the block",
+    "Grab the handheld medium claw hammer using the right arm, then beat the block",
+    "With the right arm, pick up the medium-sized metal hammer and strike the block.",
+    "With the right arm, grab the hammer with claw-shaped end and hammer the block",
+    "Grip the black and yellow hammer grip firmly and hit the block."
+  ],
+  "unseen": [
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the silver hammer head and claw up 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 hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat 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.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat 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",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "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",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the hammer with 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 strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with claw and smooth head up 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 hit the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with black handle up 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 hit the block",
+    "Use the right arm to pick up the silver hammer head and claw."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10006016.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10006016.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e40f46081824d60261b3b9d6acc8396c5490804
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10006016.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Catch the hammer for nails and use it on the block.",
+    "Grab the silver hammer using the left arm, then beat the block",
+    "Take the grippy handle hammer and strike the block",
+    "Use the medium-sized metal hammer to beat after grabbing with the left arm",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "Pick up the hammer with two-tone handle with the left arm, strike the block.",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Pick up the medium-sized metal hammer using the left arm, hammer the block.",
+    "Use the nail-driving hammer to hammer the block.",
+    "Grab the hammer with claw-shaped end using the left arm and strike the block",
+    "With the left arm, grab the hammer for nails and beat the block.",
+    "Lift the plastic handle metal hammer and hit the block",
+    "Take the grippy handle hammer and smash the block.",
+    "Pick the black and yellow hammer grip and smash the block",
+    "Pick the plastic handle metal hammer with the left arm and hit the block",
+    "Grab the silver hammer, then strike the block.",
+    "Grab the hammer with claw-shaped end using the left arm then pound block",
+    "With the left arm, grab the hammer with two-tone handle and hit the block",
+    "Pick the hammer for nails from the table and strike",
+    "Grip the handheld medium claw hammer firmly and hit the block.",
+    "Grab the hammer for nails with the left arm and hit the block",
+    "Lift the medium-sized metal hammer using the left arm to hit the block.",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Take the plastic handle metal hammer and beat the block",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Grab the yellow and black hammer grip using the left arm and hit the block",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Grab the hammer for nails with the left arm and hit block",
+    "Employ the left arm to grab the silver curved hammer head and hit.",
+    "Use the left arm to take the nail-driving hammer and strike",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "With the left arm, pick up the silver curved hammer head and strike the block.",
+    "Grab the plastic handle metal hammer to beat the block.",
+    "Take the silver curved hammer head and strike the block",
+    "Grab the handheld medium claw hammer with the left arm and beat the block.",
+    "Beat the block after grabbing the silver curved hammer head",
+    "Use the left arm to grab the yellow and black hammer grip and beat block",
+    "Lift the silver hammer with the left arm then strike block",
+    "Make the left arm grab the hammer with claw-shaped end and strike the block.",
+    "Use the left arm to grab the plastic handle metal hammer and beat",
+    "Pick up the hammer with two-tone handle using the left arm then beat",
+    "Pick up the hammer with two-tone handle and strike the block",
+    "Hold the silver hammer then hit the block",
+    "Take the plastic handle metal hammer using the left arm, hit the block.",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "With the left arm, grab the handheld medium claw hammer and hammer the block",
+    "Take the nail-driving hammer and hammer the block",
+    "Grab the silver hammer, then hit the block",
+    "Hold the nail-driving hammer and pound the block.",
+    "Catch the hammer with two-tone handle and use it on the block.",
+    "Grab the hammer with claw-shaped end using the left arm, then beat the block",
+    "Take the yellow and black hammer grip and strike the block",
+    "Use the handheld medium claw hammer to beat after grabbing with the left arm",
+    "Utilize the left arm to hold the nail-driving hammer and strike.",
+    "Pick up the silver hammer with the left arm, strike the block.",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Pick up the hammer with two-tone handle using the left arm, hammer the block.",
+    "Use the nail-driving hammer to hammer the block.",
+    "Grab the grippy handle hammer using the left arm and strike the block",
+    "With the left arm, grab the yellow and black hammer grip and beat the block.",
+    "Lift the hammer with claw-shaped end and hit the block",
+    "Take the grippy handle hammer and smash the block.",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Pick the plastic handle metal hammer with the left arm and hit the block",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Grab the yellow and black hammer grip using the left arm then pound block",
+    "With the left arm, grab the silver hammer and hit the block",
+    "Pick the silver hammer from the table and strike",
+    "Grip the silver hammer firmly and hit the block.",
+    "Grab the silver curved hammer head with the left arm and hit the block",
+    "Lift the plastic handle metal hammer using the left arm to hit the block.",
+    "Pick the handheld medium claw hammer and strike the block.",
+    "Take the nail-driving hammer and beat the block",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "Take the silver curved hammer head and beat the block",
+    "Grab the hammer for nails using the left arm and hit the block",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Grab the hammer with claw-shaped end with the left arm and hit block",
+    "Employ the left arm to grab the black and yellow hammer grip and hit.",
+    "Use the left arm to take the nail-driving hammer and strike",
+    "Lift the plastic handle metal hammer, then beat the block.",
+    "With the left arm, pick up the hammer with two-tone handle and strike the block.",
+    "Grab the hammer with two-tone handle to beat the block.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Grab the hammer with two-tone handle with the left arm and beat the block.",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Use the left arm to grab the black and yellow hammer grip and beat block",
+    "Lift the silver curved hammer head with the left arm then strike block",
+    "Make the left arm grab the plastic handle metal hammer and strike the block.",
+    "Use the left arm to grab the medium-sized metal hammer and beat",
+    "Pick up the medium-sized metal hammer using the left arm then beat",
+    "Pick up the black and yellow hammer grip and strike the block",
+    "Hold the handheld medium claw hammer then hit the block",
+    "Take the medium-sized metal hammer using the left arm, hit the block.",
+    "Grab the silver hammer and use it to hit",
+    "With the left arm, grab the hammer with two-tone handle and hammer the block",
+    "Take the medium-sized metal hammer and hammer the block",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Hold the hammer for nails and pound the block."
+  ],
+  "unseen": [
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with claw and smooth head 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",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "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 pick up the hammer with black handle.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with 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",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10006319.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10006319.json
new file mode 100644
index 0000000000000000000000000000000000000000..825f274a72ad1e4a14f8d2c51ad1d69b6cb8897f
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10006319.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Pick the silver hammer and smash the block",
+    "Employ the left arm to grab the medium-sized metal hammer and hit.",
+    "With the left arm, grab the black and yellow hammer grip and hit the block",
+    "Use the left arm to grab the yellow and black hammer grip and beat block",
+    "Lift the medium-sized metal hammer using the left arm to hit the block.",
+    "Grab the plastic handle metal hammer with the left arm and hit the block",
+    "Pick up the hammer with claw-shaped end using the left arm, hammer the block.",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Take the hammer for nails and smash the block.",
+    "Use the left arm to take the nail-driving hammer and strike",
+    "Lift the handheld medium claw hammer and hit the block.",
+    "Take the medium-sized metal hammer and strike the block",
+    "Grab the silver hammer using the left arm then pound block",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "Grab the black and yellow hammer grip to beat the block.",
+    "Beat the block after grabbing the plastic handle metal hammer",
+    "Grab the grippy handle hammer with the left arm and strike block",
+    "Lift the hammer with claw-shaped end with the left arm then strike block",
+    "Utilize the left arm to hold the hammer for nails and strike.",
+    "Use the left arm to grab the hammer with claw-shaped end and beat",
+    "Grab the hammer with claw-shaped end using the left arm and strike the block",
+    "Grab the hammer with claw-shaped end, then hit the block",
+    "Take the nail-driving hammer and strike the block",
+    "With the left arm, pick up the handheld medium claw hammer and strike the block.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Lift the hammer for nails, then beat the block.",
+    "Pick up the yellow and black hammer grip with the left arm, strike the block.",
+    "Take the hammer with two-tone handle using the left arm, hit the block.",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Grab the hammer with claw-shaped end with the left arm and beat the block.",
+    "Hold the hammer for nails then hit the block",
+    "Pick up 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 nail-driving hammer and beat the block.",
+    "Grab the nail-driving hammer, then strike the block.",
+    "Use the grippy handle hammer to hammer the block.",
+    "Grab the nail-driving hammer using the left arm, then beat the block",
+    "Take the plastic handle metal hammer and beat the block",
+    "Lift the silver hammer and hit the block",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Grab the hammer with claw-shaped end and use it to hit",
+    "Grab the nail-driving hammer using the left arm and hit the block",
+    "Grip the hammer with two-tone handle firmly and hit the block.",
+    "Use the handheld medium claw hammer to beat after grabbing with the left arm",
+    "Make the left arm grab the plastic handle metal hammer and strike the block.",
+    "Grab the grippy handle hammer with the left arm and hit block",
+    "Pick up the medium-sized metal hammer using the left arm then beat",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "Pick the silver curved hammer head and smash the block",
+    "Employ the left arm to grab the medium-sized metal hammer and hit.",
+    "With the left arm, grab the hammer with two-tone handle and hit the block",
+    "Use the left arm to grab the plastic handle metal hammer and beat block",
+    "Lift the black and yellow hammer grip using the left arm to hit the block.",
+    "Grab the hammer with claw-shaped end with the left arm and hit the block",
+    "Pick up the hammer with two-tone handle using the left arm, hammer the block.",
+    "Hold the yellow and black hammer grip and pound the block.",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Use the left arm to take the grippy handle hammer and strike",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Take the hammer with two-tone handle and strike the block",
+    "Grab the handheld medium claw hammer using the left arm then pound block",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "With the left arm, grab the hammer for nails and hammer the block",
+    "Grab the nail-driving hammer to beat the block.",
+    "Beat the block after grabbing the black and yellow hammer grip",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "Lift the hammer with claw-shaped end with the left arm then strike block",
+    "Utilize the left arm to hold the black and yellow hammer grip and strike.",
+    "Use the left arm to grab the silver hammer and beat",
+    "Grab the handheld medium claw hammer using the left arm and strike the block",
+    "Grab the silver hammer, then hit the block",
+    "Take the medium-sized metal hammer and strike the block",
+    "With the left arm, pick up the hammer for nails and strike the block.",
+    "Take the handheld medium claw hammer and beat the block",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Pick up the grippy handle hammer with the left arm, strike the block.",
+    "Take the yellow and black hammer grip using the left arm, hit the block.",
+    "Pick the silver hammer from the table and strike",
+    "Grab the nail-driving hammer with the left arm and beat the block.",
+    "Hold the nail-driving hammer then hit the block",
+    "Pick up the grippy handle hammer and strike the block",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "With the left arm, grab the black and yellow hammer grip and beat the block.",
+    "Grab the grippy handle hammer, then strike the block.",
+    "Use the nail-driving hammer to hammer the block.",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Grab the grippy handle hammer and use it to hit",
+    "Grab the silver curved hammer head using the left arm and hit the block",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Use the black and yellow hammer grip to beat after grabbing with the left arm",
+    "Make the left arm grab the yellow and black hammer grip and strike the block.",
+    "Grab the handheld medium claw hammer with the left arm and hit block",
+    "Pick up the hammer with claw-shaped end using the left arm then beat",
+    "Take the medium-sized metal hammer and hammer the block"
+  ],
+  "unseen": [
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and 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 silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the silver hammer head and claw up 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 black handle, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the 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",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and strike 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",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "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 silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the silver hammer head and claw and 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 claw and smooth head and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and 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 hammer with claw and smooth head and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with claw and smooth head and strike 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",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the 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",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the 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"
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10007098.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10007098.json
new file mode 100644
index 0000000000000000000000000000000000000000..b13538bc120975e5679600b7be61254696cadcab
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10007098.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the black and yellow hammer grip and use it to hit",
+    "Hold the hammer for nails and pound the block.",
+    "With the right arm, pick up the silver curved hammer head and strike the block.",
+    "Use the silver hammer to hammer the block.",
+    "Pick up the silver hammer and use it on the block",
+    "Pick the yellow and black hammer grip with the right arm and hit the block",
+    "Employ the right arm to grab the silver hammer and hit.",
+    "Pick the hammer for nails and strike the block.",
+    "Grab the medium-sized metal hammer with the right arm and hit the block",
+    "Grip the grippy handle hammer firmly and hit the block.",
+    "Use the right arm to grab the nail-driving hammer and beat",
+    "Hold the grippy handle hammer then hit the block",
+    "Take the hammer with two-tone handle and strike the block",
+    "Grab the grippy handle hammer with the right arm and hit block",
+    "Catch the plastic handle metal hammer and use it on the block.",
+    "With the right arm, grab the hammer with two-tone handle and beat the block.",
+    "Take the handheld medium claw hammer and hammer the block",
+    "Lift the plastic handle metal hammer using the right arm to hit the block.",
+    "Pick up the hammer for nails using the right arm then beat",
+    "Use the plastic handle metal hammer to beat after grabbing with the right arm",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Beat the block after grabbing the handheld medium claw hammer",
+    "Grab the hammer for nails with the right arm and beat the block.",
+    "Pick up the handheld medium claw hammer using the right arm, hammer the block.",
+    "Pick up the medium-sized metal hammer with the right arm, strike the block.",
+    "With the right arm, grab the hammer for nails and hammer the block",
+    "Grab the nail-driving hammer to beat the block.",
+    "With the right arm, grab the black and yellow hammer grip and hit the block",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Grab the nail-driving hammer with the right arm and strike block",
+    "Take the nail-driving hammer and strike the block",
+    "Grab the handheld medium claw hammer using the right arm, then beat the block",
+    "Use the right arm to grab the black and yellow hammer grip and beat block",
+    "Pick the medium-sized metal hammer and smash the block",
+    "Grab the grippy handle hammer, then hit the block",
+    "Grab the silver hammer using the right arm then pound block",
+    "Take the black and yellow hammer grip and smash the block.",
+    "Utilize the right arm to hold the handheld medium claw hammer and strike.",
+    "Lift the hammer for nails and hit the block",
+    "Grab the hammer with claw-shaped end using the right arm and hit the block",
+    "Use the right arm to take the hammer with two-tone handle and strike",
+    "Pick the black and yellow hammer grip from the table and strike",
+    "Make the right arm grab the silver curved hammer head and strike the block.",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Grab the hammer with two-tone handle using the right arm and strike the block",
+    "Lift the silver hammer, then beat the block.",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Take the black and yellow hammer grip and beat the block",
+    "Lift the black and yellow hammer grip with the right arm then strike block",
+    "Take the black and yellow hammer grip using the right arm, hit the block.",
+    "Grab the plastic handle metal hammer and use it to hit",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "With the right arm, pick up the medium-sized metal hammer and strike the block.",
+    "Use the silver hammer to hammer the block.",
+    "Pick up the nail-driving hammer and use it on the block",
+    "Pick the grippy handle hammer with the right arm and hit the block",
+    "Employ the right arm to grab the nail-driving hammer and hit.",
+    "Pick the medium-sized metal hammer and strike the block.",
+    "Grab the medium-sized metal hammer with the right arm and hit the block",
+    "Grip the medium-sized metal hammer firmly and hit the block.",
+    "Use the right arm to grab the black and yellow hammer grip and beat",
+    "Hold the silver curved hammer head then hit the block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Grab the silver hammer with the right arm and hit block",
+    "Catch the hammer with claw-shaped end and use it on the block.",
+    "With the right arm, grab the yellow and black hammer grip and beat the block.",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Lift the yellow and black hammer grip using the right arm to hit the block.",
+    "Pick up the nail-driving hammer using the right arm then beat",
+    "Use the plastic handle metal hammer to beat after grabbing with the right arm",
+    "Take the hammer for nails and beat the block",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Grab the silver hammer with the right arm and beat the block.",
+    "Pick up the silver curved hammer head using the right arm, hammer the block.",
+    "Pick up the black and yellow hammer grip with the right arm, strike the block.",
+    "With the right arm, grab the hammer for nails and hammer the block",
+    "Grab the hammer for nails to beat the block.",
+    "With the right arm, grab the hammer for nails and hit the block",
+    "Pick up the grippy handle hammer and strike the block",
+    "Grab the silver hammer with the right arm and strike block",
+    "Take the hammer for nails and strike the block",
+    "Grab the hammer for nails using the right arm, then beat the block",
+    "Use the right arm to grab the plastic handle metal hammer and beat block",
+    "Pick the handheld medium claw hammer and smash the block",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Grab the plastic handle metal hammer using the right arm then pound block",
+    "Take the grippy handle hammer and smash the block.",
+    "Utilize the right arm to hold the yellow and black hammer grip and strike.",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Grab the handheld medium claw hammer using the right arm and hit the block",
+    "Use the right arm to take the nail-driving hammer and strike",
+    "Pick the yellow and black hammer grip from the table and strike",
+    "Make the right arm grab the handheld medium claw hammer and strike the block.",
+    "Grab the handheld medium claw hammer, then strike the block.",
+    "Grab the silver curved hammer head using the right arm and strike the block",
+    "Lift the handheld medium claw hammer, then beat the block.",
+    "Lift the silver hammer and hit the block.",
+    "Take the yellow and black hammer grip and beat the block",
+    "Lift the nail-driving hammer with the right arm then strike block",
+    "Take the grippy handle hammer using the right arm, hit the block."
+  ],
+  "unseen": [
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "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 claw and smooth head up and hit the block",
+    "Use the hammer with black handle to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Use the right arm to grab the 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 hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "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.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with black handle and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with black handle up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the silver hammer head and claw.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Grab the hammer with black handle and hit the block",
+    "Use the right arm to grab the silver hammer head and claw then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the hammer with black handle and hit the block.",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the right arm to grab the hammer with black handle then beat block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Use the right arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and strike the block",
+    "Use the right arm to grab the hammer with 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 hit the block",
+    "Use the right arm to grab the hammer with claw and smooth head then beat block",
+    "Grab the hammer with black handle and beat the block.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Use the right arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and strike the block",
+    "Use the right arm to grab the silver hammer head and claw, beat the block.",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Grab the hammer with black handle and hit the block"
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10007103.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10007103.json
new file mode 100644
index 0000000000000000000000000000000000000000..b40bf9bdf3e0a529db04628971b8583902cc6676
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10007103.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, grab the yellow and black hammer grip and hammer the block",
+    "Grab the black and yellow hammer grip, then strike the block.",
+    "Use the left arm to take the grippy handle hammer and strike",
+    "Pick the plastic handle metal hammer from the table and strike",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Make the left arm grab the hammer for nails and strike the block.",
+    "Use the silver hammer to beat after grabbing with the left arm",
+    "Pick up the handheld medium claw hammer with the left arm, strike the block.",
+    "Take the grippy handle hammer and hammer the block",
+    "Pick the silver curved hammer head and smash the block",
+    "Grab the grippy handle hammer to beat the block.",
+    "Pick up the handheld medium claw hammer and strike the block",
+    "Lift the hammer for nails and hit the block.",
+    "Hold the silver curved hammer head then hit the block",
+    "Grab the silver curved hammer head with the left arm and beat the block.",
+    "Grab the nail-driving hammer with the left arm and strike block",
+    "Employ the left arm to grab the medium-sized metal hammer and hit.",
+    "Hold the plastic handle metal hammer and pound the block.",
+    "With the left arm, grab the grippy handle hammer and hit the block",
+    "Use the left arm to grab the nail-driving hammer and beat",
+    "Grab the black and yellow hammer grip using the left arm and strike the block",
+    "Grip the silver hammer firmly and hit the block.",
+    "Take the hammer for nails and beat the block",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "Grab the handheld medium claw hammer using the left arm, then beat the block",
+    "Pick the grippy handle hammer and strike the block.",
+    "Use the left arm to grab the medium-sized metal hammer and beat block",
+    "Grab the grippy handle hammer and use it to hit",
+    "Grab the silver curved hammer head, then hit the block",
+    "Grab the plastic handle metal hammer with the left arm and hit block",
+    "Take the medium-sized metal hammer and strike the block",
+    "Beat the block after grabbing the nail-driving hammer",
+    "Lift the nail-driving hammer, then beat the block.",
+    "Take the silver curved hammer head and strike the block",
+    "Grab the black and yellow hammer grip using the left arm then pound block",
+    "Catch the silver curved hammer head and use it on the block.",
+    "Lift the black and yellow hammer grip and hit the block",
+    "Grab the yellow and black hammer grip with the left arm and hit the block",
+    "Grab the black and yellow hammer grip using the left arm and hit the block",
+    "Pick up the hammer with claw-shaped end using the left arm then beat",
+    "With the left arm, grab the handheld medium claw hammer and beat the block.",
+    "Utilize the left arm to hold the silver hammer and strike.",
+    "Take the hammer for nails and beat the block",
+    "With the left arm, pick up the hammer with claw-shaped end and strike the block.",
+    "Pick the yellow and black hammer grip with the left arm and hit the block",
+    "Take the hammer with two-tone handle using the left arm, hit the block.",
+    "Use the silver curved hammer head to hammer the block.",
+    "Lift the handheld medium claw hammer with the left arm then strike block",
+    "Pick up the handheld medium claw hammer and use it on the block",
+    "Lift the yellow and black hammer grip using the left arm to hit the block.",
+    "With the left arm, grab the hammer with claw-shaped end and hammer the block",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Use the left arm to take the silver hammer and strike",
+    "Pick the hammer with two-tone handle from the table and strike",
+    "Take the yellow and black hammer grip and smash the block.",
+    "Make the left arm grab the hammer with claw-shaped end and strike the block.",
+    "Use the yellow and black hammer grip to beat after grabbing with the left arm",
+    "Pick up the hammer with two-tone handle with the left arm, strike the block.",
+    "Take the hammer with claw-shaped end and hammer the block",
+    "Pick the yellow and black hammer grip and smash the block",
+    "Grab the silver curved hammer head to beat the block.",
+    "Pick up the grippy handle hammer and strike the block",
+    "Lift the plastic handle metal hammer and hit the block.",
+    "Hold the nail-driving hammer then hit the block",
+    "Grab the plastic handle metal hammer with the left arm and beat the block.",
+    "Grab the plastic handle metal hammer with the left arm and strike block",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "With the left arm, grab the black and yellow hammer grip and hit the block",
+    "Use the left arm to grab the black and yellow hammer grip and beat",
+    "Grab the silver curved hammer head using the left arm and strike the block",
+    "Grip the hammer for nails firmly and hit the block.",
+    "Take the hammer with claw-shaped end and beat the block",
+    "Pick up the hammer with two-tone handle using the left arm, hammer the block.",
+    "Grab the silver curved hammer head using the left arm, then beat the block",
+    "Pick the hammer with claw-shaped end and strike the block.",
+    "Use the left arm to grab the plastic handle metal hammer and beat block",
+    "Grab the nail-driving hammer and use it to hit",
+    "Grab the medium-sized metal hammer, then hit the block",
+    "Grab the black and yellow hammer grip with the left arm and hit block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Beat the block after grabbing the hammer for nails",
+    "Lift the silver curved hammer head, then beat the block.",
+    "Take the yellow and black hammer grip and strike the block",
+    "Grab the hammer with two-tone handle using the left arm then pound block",
+    "Catch the hammer for nails and use it on the block.",
+    "Lift the medium-sized metal hammer and hit the block",
+    "Grab the yellow and black hammer grip with the left arm and hit the block",
+    "Grab the yellow and black hammer grip using the left arm and hit the block",
+    "Pick up the hammer for nails using the left arm then beat",
+    "With the left arm, grab the silver curved hammer head and beat the block.",
+    "Utilize the left arm to hold the black and yellow hammer grip and strike.",
+    "Take the plastic handle metal hammer and beat the block",
+    "With the left arm, pick up the silver hammer and strike the block.",
+    "Pick the plastic handle metal hammer with the left arm and hit the block",
+    "Take the plastic handle metal hammer using the left arm, hit the block.",
+    "Use the hammer for nails to hammer the block.",
+    "Lift the silver curved hammer head with the left arm then strike block",
+    "Pick up the silver curved hammer head and use it on the block",
+    "Lift the medium-sized metal hammer using the left arm to hit the block."
+  ],
+  "unseen": [
+    "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.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the silver hammer head and claw, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "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 hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the silver hammer head and claw and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and 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.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the silver hammer head and claw up and hit the block",
+    "Grab the silver hammer head and claw and beat the block.",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the silver hammer head and claw and beat the block",
+    "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 silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and hit the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with black handle up and hit the block",
+    "Grab the hammer with black handle and beat the block.",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with black handle and beat the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and hit the block.",
+    "Use the left arm to grab the hammer with claw and smooth head then beat block",
+    "Use the left arm to grab the hammer with black handle, beat the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to 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 strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10008290.json b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10008290.json
new file mode 100644
index 0000000000000000000000000000000000000000..a871efe3bdba30d228939fa61aad032727b8a48e
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/beat_block_hammer/episode10008290.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the black and yellow hammer grip with the left arm then strike block",
+    "Take the handheld medium claw hammer and strike the block",
+    "Use the left arm to grab the medium-sized metal hammer and beat block",
+    "Pick up the black and yellow hammer grip and use it on the block",
+    "With the left arm, pick up the handheld medium claw hammer and strike the block.",
+    "Grab the plastic handle metal hammer using the left arm and hit the block",
+    "Pick the plastic handle metal hammer and strike the block.",
+    "Use the left arm to grab the hammer for nails and beat",
+    "Catch the hammer for nails and use it on the block.",
+    "Lift the yellow and black hammer grip and hit the block",
+    "Use the grippy handle hammer to hammer the block.",
+    "Grab the nail-driving hammer, then hit the block",
+    "Take the nail-driving hammer and beat the block",
+    "Grab the handheld medium claw hammer using the left arm then pound block",
+    "Lift the silver curved hammer head and hit the block.",
+    "Pick the plastic handle metal hammer and smash the block",
+    "Pick up the silver hammer and strike the block",
+    "Use the left arm to take the hammer with claw-shaped end and strike",
+    "Hold the black and yellow hammer grip and pound the block.",
+    "Grab the nail-driving hammer with the left arm and beat the block.",
+    "Make the left arm grab the yellow and black hammer grip and strike the block.",
+    "Utilize the left arm to hold the hammer for nails and strike.",
+    "Pick up the black and yellow hammer grip using the left arm then beat",
+    "Hold the nail-driving hammer then hit the block",
+    "Use the black and yellow hammer grip to beat after grabbing with the left arm",
+    "Lift the hammer for nails using the left arm to hit the block.",
+    "Grab the hammer for nails, then strike the block.",
+    "Grab the hammer with two-tone handle using the left arm and strike the block",
+    "With the left arm, grab the grippy handle hammer and beat the block.",
+    "Beat the block after grabbing the hammer for nails",
+    "Take the plastic handle metal hammer using the left arm, hit the block.",
+    "Grab the handheld medium claw hammer with the left arm and hit block",
+    "Take the silver hammer and strike the block",
+    "Pick up the grippy handle hammer with the left arm, strike the block.",
+    "Grip the hammer with claw-shaped end firmly and hit the block.",
+    "Grab the medium-sized metal hammer with the left arm and strike block",
+    "Lift the hammer with claw-shaped end, then beat the block.",
+    "Pick up the medium-sized metal hammer using the left arm, hammer the block.",
+    "Take the hammer for nails and hammer the block",
+    "Grab the hammer for nails using the left arm, then beat the block",
+    "Grab the silver curved hammer head to beat the block.",
+    "With the left arm, grab the nail-driving hammer and hit the block",
+    "With the left arm, grab the nail-driving hammer and hammer the block",
+    "Pick the hammer for nails from the table and strike",
+    "Grab the silver curved hammer head and use it to hit",
+    "Employ the left arm to grab the handheld medium claw hammer and hit.",
+    "Grab the black and yellow hammer grip with the left arm and hit the block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Pick the grippy handle hammer with the left arm and hit the block",
+    "Take the hammer with two-tone handle and smash the block.",
+    "Lift the silver curved hammer head with the left arm then strike block",
+    "Take the silver hammer and strike the block",
+    "Use the left arm to grab the grippy handle hammer and beat block",
+    "Pick up the hammer with claw-shaped end and use it on the block",
+    "With the left arm, pick up the silver curved hammer head and strike the block.",
+    "Grab the yellow and black hammer grip using the left arm and hit the block",
+    "Pick the nail-driving hammer and strike the block.",
+    "Use the left arm to grab the handheld medium claw hammer and beat",
+    "Catch the black and yellow hammer grip and use it on the block.",
+    "Lift the hammer for nails and hit the block",
+    "Use the silver hammer to hammer the block.",
+    "Grab the hammer with two-tone handle, then hit the block",
+    "Take the hammer with two-tone handle and beat the block",
+    "Grab the handheld medium claw hammer using the left arm then pound block",
+    "Lift the yellow and black hammer grip and hit the block.",
+    "Pick the hammer with two-tone handle and smash the block",
+    "Pick up the yellow and black hammer grip and strike the block",
+    "Use the left arm to take the hammer with claw-shaped end and strike",
+    "Hold the hammer for nails and pound the block.",
+    "Grab the grippy handle hammer with the left arm and beat the block.",
+    "Make the left arm grab the medium-sized metal hammer and strike the block.",
+    "Utilize the left arm to hold the black and yellow hammer grip and strike.",
+    "Pick up the plastic handle metal hammer using the left arm then beat",
+    "Hold the nail-driving hammer then hit the block",
+    "Use the hammer for nails to beat after grabbing with the left arm",
+    "Lift the handheld medium claw hammer using the left arm to hit the block.",
+    "Grab the hammer with two-tone handle, then strike the block.",
+    "Grab the grippy handle hammer using the left arm and strike the block",
+    "With the left arm, grab the silver hammer and beat the block.",
+    "Beat the block after grabbing the hammer for nails",
+    "Take the silver hammer using the left arm, hit the block.",
+    "Grab the grippy handle hammer with the left arm and hit block",
+    "Take the plastic handle metal hammer and strike the block",
+    "Pick up the plastic handle metal hammer with the left arm, strike the block.",
+    "Grip the silver curved hammer head firmly and hit the block.",
+    "Grab the grippy handle hammer with the left arm and strike block",
+    "Lift the hammer for nails, then beat the block.",
+    "Pick up the black and yellow hammer grip using the left arm, hammer the block.",
+    "Take the black and yellow hammer grip and hammer the block",
+    "Grab the yellow and black hammer grip using the left arm, then beat the block",
+    "Grab the medium-sized metal hammer to beat the block.",
+    "With the left arm, grab the hammer with claw-shaped end and hit the block",
+    "With the left arm, grab the medium-sized metal hammer and hammer the block",
+    "Pick the medium-sized metal hammer from the table and strike",
+    "Grab the nail-driving hammer and use it to hit",
+    "Employ the left arm to grab the silver hammer and hit.",
+    "Grab the yellow and black hammer grip with the left arm and hit the block",
+    "Take the handheld medium claw hammer and beat the block",
+    "Pick the medium-sized metal hammer with the left arm and hit the block",
+    "Take the hammer for nails and smash the block."
+  ],
+  "unseen": [
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "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 claw and smooth head, beat 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 hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "Grab the hammer with claw and smooth head and hit the block.",
+    "Pick the hammer with claw and smooth head up and hit the block",
+    "Use the left arm to grab the hammer with claw and smooth head, beat the block.",
+    "Grab the 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 hammer with claw and smooth head to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the hammer with black handle and 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 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 strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "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 hammer with black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the silver hammer head and claw then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "Grab the 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 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 grab the silver hammer head and claw then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "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 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 grab the hammer with black handle then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with black handle and strike the block",
+    "Grab the silver hammer head and claw and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with claw and smooth head.",
+    "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 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 grab the hammer with black handle then beat block",
+    "Use the silver hammer head and claw to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the silver hammer head and claw and beat the block",
+    "Use the left arm to pick up the silver hammer head and claw.",
+    "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 black handle, beat the block.",
+    "Grab the hammer with claw and smooth head and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the hammer with black handle to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with black handle and hit the block",
+    "Grab the hammer with black handle and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with 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 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 silver hammer head and claw to strike the block",
+    "Grab the silver hammer head and claw and strike the block",
+    "Grab the hammer with claw and smooth head and hit the block",
+    "Grab the hammer with claw and smooth head and beat the block",
+    "Use the left arm to pick up the hammer with black handle.",
+    "Grab the hammer with 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 black handle and beat the block.",
+    "Use the left arm to grab the hammer with black handle then beat block",
+    "Use the hammer with claw and smooth head to strike the block",
+    "Grab the hammer with claw and smooth head and strike the block"
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001198.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001198.json
new file mode 100644
index 0000000000000000000000000000000000000000..b07a9faeafcaa24e5e4c455ee97598cacd410a01
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001198.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Direct the right arm to touch the round bell's top.",
+    "Activate the bell with circular body by pressing its top center.",
+    "Click the metal bell with plastic parts's top center using the right arm.",
+    "Push the small blue and brown bell's <top center> on the table",
+    "Tap the top center of the blue bell.",
+    "Click the small blue and brown bell's <top center> using the right arm",
+    "Press down the top of the blue dome-shaped bell using the right arm.",
+    "Press the top center of the blue dome-shaped bell on table.",
+    "Press the center top of the round bell.",
+    "Use the right arm to touch the bell with protruding knob's top center.",
+    "Make the right arm interact with the blue bell's top center.",
+    "Command the right arm to press the bell with protruding knob's top.",
+    "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 compact bell with round base.",
+    "Click the designated center of the bell with protruding knob.",
+    "Press the center of the bell with protruding knob using the right arm.",
+    "Click the top center of the round bell on table.",
+    "Guide the right arm to click the round bell's top center.",
+    "Use the right arm to press the metal bell with plastic parts's top section.",
+    "Click using the right arm on the brown-bottomed bell's center.",
+    "Locate the bell with protruding knob and click its top center.",
+    "Tap the compact bell with round base's top center with the right arm.",
+    "Push the center of the brown-bottomed bell using the right arm.",
+    "Ask the right arm to interact with the small blue and brown bell's top.",
+    "Click the brown-bottomed bell at its top center on table.",
+    "Pinpoint the small blue and brown bell and click its top center.",
+    "Press down the round bell's top center gently.",
+    "Tap the smooth blue bell's top center with the right arm.",
+    "Press the compact bell with round base's top center on the table.",
+    "Press the metal bell with plastic parts's top center with the right arm firmly.",
+    "Press the specified top area of the small blue and brown bell.",
+    "Direct the right arm to touch the bell with circular body's top.",
+    "Activate the blue bell by pressing its top center.",
+    "Click the brown-bottomed bell's top center using the right arm.",
+    "Push the blue dome-shaped bell's <top center> on the table",
+    "Tap the top center of the brown-bottomed bell.",
+    "Click the blue bell's <top center> using the right arm",
+    "Press down the top of the bell with protruding knob using the right arm.",
+    "Press the top center of the flat-topped bell on table.",
+    "Press the center top of the bell with brown base.",
+    "Use the right arm to touch the small blue and brown bell's top center.",
+    "Make the right arm interact with the bell with circular body's top center.",
+    "Command the right arm to press the bell with protruding knob's top.",
+    "Have the right arm click at the blue dome-shaped bell's top center.",
+    "Direct the right arm to click the top of the small blue and brown bell.",
+    "Click the designated center of the blue dome-shaped bell.",
+    "Press the center of the smooth blue bell using the right arm.",
+    "Click the top center of the bell with protruding knob on table.",
+    "Guide the right arm to click the small blue and brown bell's top center.",
+    "Use the right arm to press the metal bell with plastic parts's top section.",
+    "Click using the right arm on the compact bell with round base's center.",
+    "Locate the compact bell with round base and click its top center.",
+    "Tap the metal bell with plastic parts's top center with the right arm.",
+    "Push the center of the flat-topped bell using the right arm.",
+    "Ask the right arm to interact with the bell with brown base's top.",
+    "Click the compact bell with round base at its top center on table.",
+    "Pinpoint the blue bell and click its top center.",
+    "Press down the metal bell with plastic parts's top center gently.",
+    "Tap the round bell's top center with the right arm.",
+    "Press the smooth blue bell's top center on the table.",
+    "Press the brown-bottomed bell's top center with the right arm firmly.",
+    "Press the specified top area of the blue dome-shaped bell.",
+    "Direct the right arm to touch the blue bell's top.",
+    "Activate the flat-topped bell by pressing its top center.",
+    "Click the bell with circular body's top center using the right arm.",
+    "Push the compact bell with round base's <top center> on the table",
+    "Tap the top center of the bell with protruding knob.",
+    "Click the flat-topped bell's <top center> using the right arm",
+    "Press down the top of the small blue and brown bell using the right arm.",
+    "Press the top center of the small blue and brown bell on table.",
+    "Press the center top of the round bell.",
+    "Use the right arm to touch the bell with protruding knob's top center.",
+    "Make the right arm interact with the flat-topped bell's top center.",
+    "Command the right arm to press the compact bell with round base's top.",
+    "Have the right arm click at the compact bell with round base's top center.",
+    "Direct the right arm to click the top of the blue dome-shaped bell.",
+    "Click the designated center of the bell with brown base.",
+    "Press the center of the blue dome-shaped bell using the right arm.",
+    "Click the top center of the bell with circular body on table.",
+    "Guide the right arm to click the small blue and brown bell's top center.",
+    "Use the right arm to press the compact bell with round base's top section.",
+    "Click using the right arm on the flat-topped bell's center.",
+    "Locate the brown-bottomed bell and click its top center.",
+    "Tap the smooth blue bell's top center with the right arm.",
+    "Push the center of the bell with brown base using the right arm.",
+    "Ask the right arm to interact with 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 down the bell with circular body's top center gently.",
+    "Tap the bell with protruding knob's top center with the right arm.",
+    "Press the round bell's top center on the table.",
+    "Press the metal bell with plastic parts's top center with the right arm firmly.",
+    "Press the specified top area of the bell with circular body.",
+    "Direct the right arm to touch the bell with brown base's top.",
+    "Activate the metal bell with plastic parts by pressing its top center.",
+    "Click the bell with protruding knob's top center using the right arm.",
+    "Push the bell with brown base's <top center> on the table",
+    "Tap the top center of the blue dome-shaped bell.",
+    "Click the bell with circular body's <top center> using the right arm",
+    "Press down the top of the brown-bottomed bell using the right arm."
+  ],
+  "unseen": [
+    "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.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "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 palm-sized bell'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.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "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.",
+    "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.",
+    "Use the right arm to press the bell with raised round top's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "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.",
+    "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 blue bell with glossy finish's top center.",
+    "Direct the right 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 palm-sized bell'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 blue bell with glossy finish's 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.",
+    "Find the palm-sized bell 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.",
+    "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.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "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 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 blue bell with glossy finish's 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.",
+    "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 palm-sized bell'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.",
+    "Use the right arm to press the palm-sized bell's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "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.",
+    "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.",
+    "Direct the right 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 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 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 bell with raised round top's top center.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "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.",
+    "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.",
+    "Direct the right arm to click the bell with raised round top's top.",
+    "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.",
+    "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 palm-sized bell's top center.",
+    "Direct the right arm to click the blue bell with glossy finish's top.",
+    "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 palm-sized bell'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.",
+    "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.",
+    "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.",
+    "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.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "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 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.",
+    "Use the right arm to press the bell with raised round top's top center."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001216.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001216.json
new file mode 100644
index 0000000000000000000000000000000000000000..761ab7eecb161238be2e77f76e67318000fe2fbf
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10001216.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Direct the left arm to click the top of the white dome bell.",
+    "Make the left arm interact with the simple hand bell with black stand's top center.",
+    "Press down the white bell's top center gently.",
+    "Click the top center of the simple hand bell with black stand on table.",
+    "Tap the top center of the plastic and metal bell.",
+    "Press the center top of the compact tabletop bell.",
+    "Have the left arm click at the rounded bell with flat black part's top center.",
+    "Pinpoint the small desk bell for tapping and click its top center.",
+    "Click the white and black colored bell's top center using the left arm.",
+    "Click using the left arm on the bell with metallic top and plastic base's center.",
+    "Click the plastic and metal bell at its top center on table.",
+    "Push the small desk bell for tapping's <top center> on the table",
+    "Command the left arm to press the white bell's top.",
+    "Activate the bell with metallic top and plastic base by pressing its top center.",
+    "Press the rounded bell with flat black part's top center on the table.",
+    "Click the designated center of the simple hand bell with black stand.",
+    "Direct the left arm to touch the compact tabletop bell's top.",
+    "Press the center of the compact tabletop bell using the left arm.",
+    "Tap the bell with black flat base's top center with the left arm.",
+    "Push the center of the white dome bell using the left arm.",
+    "Tap the plastic and metal bell's top center with the left arm.",
+    "Press the white bell with black bottom's top center with the left arm firmly.",
+    "Press the specified top area of the white bell.",
+    "Use the left arm to press the bell with black flat base's top section.",
+    "Ask the left arm to interact with the white dome bell's top.",
+    "Guide the left arm to click the small desk bell for tapping's top center.",
+    "Locate the small desk bell for tapping and click its top center.",
+    "Press the top center of the white bell on table.",
+    "Use the left arm to touch the white dome bell's top center.",
+    "Click the bell with metallic top and plastic base's <top center> using the left arm",
+    "Press down the top of the rounded bell with flat black part using the left arm.",
+    "Direct the left arm to click the top of the rounded bell with flat black part.",
+    "Make the left arm interact with the white bell's top center.",
+    "Press down the compact tabletop bell's top center gently.",
+    "Click the top center of the bell shaped like half-circle dome on table.",
+    "Tap the top center of the white and black colored bell.",
+    "Press the center top of the rounded bell with flat black part.",
+    "Have the left arm click at the small desk bell for tapping's top center.",
+    "Pinpoint the simple hand bell with black stand and click its top center.",
+    "Click the compact tabletop bell's top center using the left arm.",
+    "Click using the left arm on the small desk bell for tapping's center.",
+    "Click the compact tabletop bell at its top center on table.",
+    "Push the bell shaped like half-circle dome's <top center> on the table",
+    "Command the left arm to press the bell shaped like half-circle dome's top.",
+    "Activate the compact tabletop bell by pressing its top center.",
+    "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.",
+    "Direct the left arm to touch the white and black colored bell's top.",
+    "Press the center of the compact tabletop bell using the left arm.",
+    "Tap the bell with black flat base's top center with the left arm.",
+    "Push the center of the small desk bell for tapping using the left arm.",
+    "Tap the compact tabletop bell's top center with the left arm.",
+    "Press the white dome bell's top center with the left arm firmly.",
+    "Press the specified top area of the bell with black flat base.",
+    "Use the left arm to press the plastic and metal bell's top section.",
+    "Ask the left arm to interact with the bell with metallic top and plastic base's top.",
+    "Guide the left arm to click the white bell's top center.",
+    "Locate the rounded bell with flat black part and click its top center.",
+    "Press the top center of the small desk bell for tapping on table.",
+    "Use the left arm to touch the plastic and metal bell's top center.",
+    "Click the compact tabletop bell's <top center> using the left arm",
+    "Press down the top of the small desk bell for tapping using the left arm.",
+    "Direct the left arm to click the top of the compact tabletop bell.",
+    "Make the left arm interact with the white bell's top center.",
+    "Press down the white dome bell's top center gently.",
+    "Click the top center of the rounded bell with flat black part on table.",
+    "Tap the top center of the white bell with black bottom.",
+    "Press the center top of the plastic and metal bell.",
+    "Have the left arm click at the small desk bell for tapping's top center.",
+    "Pinpoint the white dome bell and click its top center.",
+    "Click the bell with metallic top and plastic base's top center using the left arm.",
+    "Click using the left arm on the white and black colored bell's center.",
+    "Click the white and black colored bell at its top center on table.",
+    "Push the white and black colored bell's <top center> on the table",
+    "Command the left arm to press the bell shaped like half-circle dome's top.",
+    "Activate the white bell by pressing its top center.",
+    "Press the bell with metallic top and plastic base's top center on the table.",
+    "Click the designated center of the white bell.",
+    "Direct the left arm to touch the plastic and metal bell's top.",
+    "Press the center of the rounded bell with flat black part using the left arm.",
+    "Tap the bell with metallic top and plastic base's top center with the left arm.",
+    "Push the center of the small desk bell for tapping using the left arm.",
+    "Tap the bell with metallic top and plastic base's top center with the left arm.",
+    "Press the compact tabletop bell's top center with the left arm firmly.",
+    "Press the specified top area of the white and black colored bell.",
+    "Use the left arm to press the small desk bell for tapping's top section.",
+    "Ask the left arm to interact with the bell with metallic top and plastic base's top.",
+    "Guide the left arm to click the small desk bell for tapping's top center.",
+    "Locate the small desk bell for tapping and click its top center.",
+    "Press the top center of the white bell with black bottom on table.",
+    "Use the left arm to touch the simple hand bell with black stand's top center.",
+    "Click the bell shaped like half-circle dome's <top center> using the left arm",
+    "Press down the top of the bell with metallic top and plastic base using the left arm.",
+    "Direct the left arm to click the top of the rounded bell with flat black part.",
+    "Make the left arm interact with the plastic and metal bell's top center.",
+    "Press down the small desk bell for tapping's top center gently.",
+    "Click the top center of the bell shaped like half-circle dome on table.",
+    "Tap the top center of the white and black colored bell.",
+    "Press the center top of the white and black colored bell.",
+    "Have the left arm click at the white bell with black bottom's top center."
+  ],
+  "unseen": [
+    "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 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.",
+    "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 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 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.",
+    "Find the smooth metal 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 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.",
+    "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 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.",
+    "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 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.",
+    "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.",
+    "Find the smooth metal 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 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.",
+    "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 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 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.",
+    "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 medium-sized bell.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 medium-sized 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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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 medium-sized bell.",
+    "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.",
+    "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 smooth metal bell's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10002033.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10002033.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a2f72ea2ea420fe8b4730a9c10fb61d4ec219aa
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10002033.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the center of the bell with brown base using the left arm.",
+    "Click the round bell's top center using the left arm.",
+    "Press the top center of the brown-bottomed bell on table.",
+    "Direct the left arm to touch the round bell's top.",
+    "Use the left arm to press the blue bell's top section.",
+    "Guide the left arm to click the blue dome-shaped bell's top center.",
+    "Click the top center of the bell with protruding knob on table.",
+    "Click the flat-topped bell's <top center> using the left arm",
+    "Press the specified top area of the flat-topped bell.",
+    "Use the left arm to touch the bell with brown base's top center.",
+    "Press the center top of the blue dome-shaped bell.",
+    "Press the center of the flat-topped bell using the left arm.",
+    "Click the bell with protruding knob at its top center on table.",
+    "Tap the top center of the brown-bottomed bell.",
+    "Click using the left arm on the bell with circular body's center.",
+    "Press down the top of the compact bell with round base using the left arm.",
+    "Press the bell with protruding knob's top center with the left arm firmly.",
+    "Push the smooth blue bell's <top center> on the table",
+    "Pinpoint the blue bell and click its top center.",
+    "Have the left arm click at the compact bell with round base's top center.",
+    "Make the left arm interact with the bell with protruding knob's top center.",
+    "Tap the brown-bottomed bell's top center with the left arm.",
+    "Direct the left arm to click the top of the flat-topped bell.",
+    "Press down the bell with protruding knob's top center gently.",
+    "Tap the brown-bottomed bell's top center with the left arm.",
+    "Ask the left arm to interact with the bell with protruding knob's top.",
+    "Click the designated center of the flat-topped bell.",
+    "Activate the brown-bottomed bell by pressing its top center.",
+    "Press the flat-topped bell's top center on the table.",
+    "Command the left arm to press the bell with protruding knob's top.",
+    "Locate the bell with brown base and click its top center.",
+    "Push the center of the blue bell using the left arm.",
+    "Click the smooth blue bell's top center using the left arm.",
+    "Press the top center of the blue bell on table.",
+    "Direct the left arm to touch the metal bell with plastic parts's top.",
+    "Use the left arm to press the smooth blue bell's top section.",
+    "Guide the left arm to click the bell with brown base's top center.",
+    "Click the top center of the bell with protruding knob on table.",
+    "Click the compact bell with round base's <top center> using the left arm",
+    "Press the specified top area of the metal bell with plastic parts.",
+    "Use the left arm to touch the compact bell with round base's top center.",
+    "Press the center top of the small blue and brown bell.",
+    "Press the center of the smooth blue bell using the left arm.",
+    "Click the bell with protruding knob at its top center on table.",
+    "Tap the top center of the blue bell.",
+    "Click using the left arm on the smooth blue bell's center.",
+    "Press down the top of the blue dome-shaped bell using the left arm.",
+    "Press the compact bell with round base's top center with the left arm firmly.",
+    "Push the flat-topped bell's <top center> on the table",
+    "Pinpoint the bell with protruding knob and click its top center.",
+    "Have the left arm click at the small blue and brown bell's top center.",
+    "Make the left arm interact with the compact bell with round base's top center.",
+    "Tap the small blue and brown bell's top center with the left arm.",
+    "Direct the left arm to click the top of the bell with protruding knob.",
+    "Press down the bell with protruding knob's top center gently.",
+    "Tap the blue dome-shaped bell's top center with the left arm.",
+    "Ask the left arm to interact with the metal bell with plastic parts's top.",
+    "Click the designated center of the round bell.",
+    "Activate the blue bell by pressing its top center.",
+    "Press the blue bell's top center on the table.",
+    "Command the left arm to press the bell with brown base's top.",
+    "Locate the metal bell with plastic parts and click its top center.",
+    "Push the center of the bell with protruding knob using the left arm.",
+    "Click the blue dome-shaped bell's top center using the left arm.",
+    "Press the top center of the bell with circular body on table.",
+    "Direct the left arm to touch the bell with brown base's top.",
+    "Use the left arm to press the bell with circular body's top section.",
+    "Guide the left arm to click the round bell's top center.",
+    "Click the top center of the metal bell with plastic parts on table.",
+    "Click the small blue and brown bell's <top center> using the left arm",
+    "Press the specified top area of the bell with brown base.",
+    "Use the left arm to touch the flat-topped bell's top center.",
+    "Press the center top of the brown-bottomed bell.",
+    "Press the center of the brown-bottomed bell using the left arm.",
+    "Click the small blue and brown bell at its top center on table.",
+    "Tap the top center of the smooth blue bell.",
+    "Click using the left arm on the small blue and brown bell's center.",
+    "Press down the top of the blue bell using the left arm.",
+    "Press the flat-topped bell's top center with the left arm firmly.",
+    "Push the compact bell with round base's <top center> on the table",
+    "Pinpoint the blue bell and click its top center.",
+    "Have the left arm click at the small blue and brown bell's top center.",
+    "Make the left arm interact with the bell with circular body's top center.",
+    "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 circular body.",
+    "Press down the metal bell with plastic parts's top center gently.",
+    "Tap the bell with protruding knob's top center with the left arm.",
+    "Ask the left arm to interact with the metal bell with plastic parts's top.",
+    "Click the designated center of the flat-topped bell.",
+    "Activate the flat-topped bell by pressing its top center.",
+    "Press the blue dome-shaped bell's top center on the table.",
+    "Command the left arm to press the brown-bottomed bell's top.",
+    "Locate the metal bell with plastic parts and click its top center.",
+    "Push the center of the blue dome-shaped bell using the left arm.",
+    "Click the small blue and brown bell's top center using the left arm.",
+    "Press the top center of the small blue and brown bell on table.",
+    "Direct the left arm to touch the bell with circular body's top.",
+    "Use the left arm to press the blue bell's top section.",
+    "Guide the left arm to click the metal bell with plastic parts's top center.",
+    "Click the top center of the smooth blue bell on table."
+  ],
+  "unseen": [
+    "Click the top center of the bell with raised round top.",
+    "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 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 left 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 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 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 left 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 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 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 left 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 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.",
+    "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 palm-sized bell's top center.",
+    "Click the top center of the palm-sized bell.",
+    "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.",
+    "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 palm-sized bell's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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 blue bell with glossy finish's top center.",
+    "Click the top center of the blue bell with glossy finish.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "Use the left arm to press the bell with raised round top's top center.",
+    "Click the top center of the palm-sized bell.",
+    "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.",
+    "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.",
+    "Click the top center of the palm-sized bell.",
+    "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 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 blue bell with glossy finish's top center.",
+    "Click the top center of the palm-sized bell.",
+    "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.",
+    "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.",
+    "Click the top center of the palm-sized bell.",
+    "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.",
+    "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.",
+    "Click the top center of the palm-sized bell.",
+    "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.",
+    "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 blue bell with glossy finish's top center.",
+    "Click the top center of the bell with raised round top.",
+    "Direct the left arm to click the blue bell with glossy finish's top."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10002083.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10002083.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f360c7ac351d1c2cf0f92dfaae2ea8625f56aa9
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10002083.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Direct the right arm to click the top of the bell with protruding knob.",
+    "Push the center of the brown-bottomed bell using the right arm.",
+    "Push the bell with circular body's <top center> on the table",
+    "Make the right arm interact with the metal bell with plastic parts's top center.",
+    "Press the center of the compact bell with round base using the right arm.",
+    "Have the right arm click at the bell with brown base's top center.",
+    "Click the bell with circular body at its top center on table.",
+    "Press the flat-topped bell's top center on the table.",
+    "Press the specified top area of the brown-bottomed bell.",
+    "Direct the right arm to touch the brown-bottomed bell's top.",
+    "Press the smooth blue bell's top center with the right arm firmly.",
+    "Tap the flat-topped bell's top center with the right arm.",
+    "Ask the right arm to interact with the brown-bottomed bell's top.",
+    "Click the designated center of the brown-bottomed bell.",
+    "Tap the bell with brown base's top center with the right arm.",
+    "Tap the top center of the blue bell.",
+    "Click the bell with protruding knob's top center using the right arm.",
+    "Press the center top of the bell with brown base.",
+    "Command the right arm to press the blue dome-shaped bell's top.",
+    "Press down the metal bell with plastic parts's top center gently.",
+    "Click using the right arm on the metal bell with plastic parts's center.",
+    "Activate the brown-bottomed bell by pressing its top center.",
+    "Click the top center of the small blue and brown bell on table.",
+    "Guide the right arm to click the compact bell with round base's top center.",
+    "Press down the top of the bell with brown base using the right arm.",
+    "Use the right arm to press the round bell's top section.",
+    "Pinpoint the small blue and brown bell and click its top center.",
+    "Click the compact bell with round base's <top center> using the right arm",
+    "Locate the bell with brown base and click its top center.",
+    "Use the right arm to touch the brown-bottomed bell's top center.",
+    "Press the top center of the bell with protruding knob on table.",
+    "Direct the right arm to click the top of the metal bell with plastic parts.",
+    "Push the center of the bell with circular body using the right arm.",
+    "Push the flat-topped bell's <top center> on the table",
+    "Make the right arm interact with the small blue and brown bell's top center.",
+    "Press the center of the smooth blue bell using the right arm.",
+    "Have the right arm click at the metal bell with plastic parts's top center.",
+    "Click the blue bell at its top center on table.",
+    "Press the bell with circular body's top center on the table.",
+    "Press the specified top area of the bell with protruding knob.",
+    "Direct the right arm to touch the blue bell's top.",
+    "Press the brown-bottomed bell's top center with the right arm firmly.",
+    "Tap the bell with circular body's top center with the right arm.",
+    "Ask the right arm to interact with the blue dome-shaped bell's top.",
+    "Click the designated center of the compact bell with round base.",
+    "Tap the smooth blue bell's top center with the right arm.",
+    "Tap the top center of the compact bell with round base.",
+    "Click the round bell's top center using the right arm.",
+    "Press the center top of the smooth blue bell.",
+    "Command the right arm to press the compact bell with round base's top.",
+    "Press down the bell with brown base's top center gently.",
+    "Click using the right arm on the round bell's center.",
+    "Activate the smooth blue bell by pressing its top center.",
+    "Click the top center of the bell with circular body on table.",
+    "Guide the right arm to click the flat-topped bell's top center.",
+    "Press down the top 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.",
+    "Pinpoint the small blue and brown bell and click its top center.",
+    "Click the blue dome-shaped bell's <top center> using the right arm",
+    "Locate the compact bell with round base and click its top center.",
+    "Use the right arm to touch the flat-topped bell's top center.",
+    "Press the top center of the metal bell with plastic parts on table.",
+    "Direct the right arm to click the top of the bell with circular body.",
+    "Push the center of the brown-bottomed bell using the right arm.",
+    "Push the bell with protruding knob's <top center> on the table",
+    "Make the right arm interact with the compact bell with round base's top center.",
+    "Press the center of the compact bell with round base using the right arm.",
+    "Have the right arm click at the smooth blue bell's top center.",
+    "Click the compact bell with round base at its top center on table.",
+    "Press the brown-bottomed bell's top center on the table.",
+    "Press the specified top area of the round bell.",
+    "Direct the right arm to touch the bell with brown base's top.",
+    "Press the blue bell's top center with the right arm firmly.",
+    "Tap the bell with circular body's top center with the right arm.",
+    "Ask the right arm to interact with the compact bell with round base's top.",
+    "Click the designated center of the metal bell with plastic parts.",
+    "Tap the brown-bottomed bell's top center with the right arm.",
+    "Tap the top center of the blue dome-shaped bell.",
+    "Click the metal bell with plastic parts's top center using the right arm.",
+    "Press the center top of the bell with brown base.",
+    "Command the right arm to press the bell with protruding knob's top.",
+    "Press down the flat-topped bell's top center gently.",
+    "Click using the right arm on the metal bell with plastic parts's center.",
+    "Activate the compact bell with round base by pressing its top center.",
+    "Click the top center of the round bell on table.",
+    "Guide the right arm to click the metal bell with plastic parts's top center.",
+    "Press down the top of the blue bell using the right arm.",
+    "Use the right arm to press the smooth blue bell's top section.",
+    "Pinpoint the flat-topped bell and click its top center.",
+    "Click the small blue and brown bell's <top center> using the right arm",
+    "Locate the smooth blue bell and click its top center.",
+    "Use the right arm to touch the bell with circular body's top center.",
+    "Press the top center of the blue bell on table.",
+    "Direct the right arm to click the top of the compact bell with round base.",
+    "Push the center of the bell with circular body using the right arm.",
+    "Push the bell with protruding knob's <top center> on the table",
+    "Make the right arm interact with the metal bell with plastic parts's top center.",
+    "Press the center of the bell with brown base using the right arm.",
+    "Have the right arm click at the metal bell with plastic parts's top center.",
+    "Click the smooth blue bell at its top center on table."
+  ],
+  "unseen": [
+    "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 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.",
+    "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 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 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.",
+    "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 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 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 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 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 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 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.",
+    "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 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 bell with raised round top's 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.",
+    "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 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 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.",
+    "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 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 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 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.",
+    "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 blue bell with glossy finish'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 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 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 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 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 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 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 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 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 bell with raised round top'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."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10002102.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10002102.json
new file mode 100644
index 0000000000000000000000000000000000000000..063624fb6928ecdac74cae2ac86b8b419682abb0
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10002102.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "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 black flat base's top.",
+    "Tap the white bell's top center with the right arm.",
+    "Click the white bell with black bottom at its top center on table.",
+    "Make the right arm interact with the white and black colored bell's top center.",
+    "Push the rounded bell with flat black part's <top center> on the table",
+    "Click the bell with black flat base's <top center> using the right arm",
+    "Tap the top center of the white bell with black bottom.",
+    "Ask the right arm to interact with the compact tabletop bell's top.",
+    "Tap the rounded bell with flat black part's top center with the right arm.",
+    "Click the white dome bell's top center using the right arm.",
+    "Activate the simple hand bell with black stand by pressing its top center.",
+    "Press the specified top area of the white bell.",
+    "Direct the right arm to click the top of the white and black colored bell.",
+    "Use the right arm to press the small desk bell for tapping's top section.",
+    "Press the top center of the simple hand bell with black stand on table.",
+    "Click the top center of the bell with metallic top and plastic base on table.",
+    "Press the center of the bell with metallic top and plastic base using the right arm.",
+    "Direct the right arm to touch the compact tabletop bell's top.",
+    "Locate the bell with black flat base and click its top center.",
+    "Have the right arm click at the white dome bell's top center.",
+    "Push the center of the rounded bell with flat black part using the right arm.",
+    "Click using the right arm on the simple hand bell with black stand's center.",
+    "Press the white bell's top center on the table.",
+    "Click the designated center of the simple hand bell with black stand.",
+    "Use the right arm to touch the white dome bell's top center.",
+    "Pinpoint the bell with metallic top and plastic base and click its top center.",
+    "Press the white bell with black bottom's top center with the right arm firmly.",
+    "Press down the bell with metallic top and plastic base's top center gently.",
+    "Guide the right arm to click the small desk bell for tapping's top center.",
+    "Press the center top of the white bell with black bottom.",
+    "Press down the top of the white bell with black bottom using the right arm.",
+    "Command the right arm to press the bell with black flat base's top.",
+    "Tap the small desk bell for tapping's top center with the right arm.",
+    "Click the rounded bell with flat black part at its top center on table.",
+    "Make the right arm interact with the bell with black flat base's top center.",
+    "Push the white bell with black bottom's <top center> on the table",
+    "Click the rounded bell with flat black part's <top center> using the right arm",
+    "Tap the top center of the rounded bell with flat black part.",
+    "Ask the right arm to interact with the white dome bell's top.",
+    "Tap the white dome bell's top center with the right arm.",
+    "Click the compact tabletop bell's top center using the right arm.",
+    "Activate the bell with black flat base by pressing its top center.",
+    "Press the specified top area of the white dome bell.",
+    "Direct the right arm to click the top of the bell with metallic top and plastic base.",
+    "Use the right arm to press the white bell's top section.",
+    "Press the top center of the simple hand bell with black stand on table.",
+    "Click the top center of the compact tabletop bell on table.",
+    "Press the center of the bell with metallic top and plastic base using the right arm.",
+    "Direct the right arm to touch the simple hand bell with black stand's top.",
+    "Locate the bell shaped like half-circle dome and click its top center.",
+    "Have the right arm click at the bell shaped like half-circle dome's top center.",
+    "Push the center of the plastic and metal bell using the right arm.",
+    "Click using the right arm on the bell with metallic top and plastic base's center.",
+    "Press the bell with metallic top and plastic base's top center on the table.",
+    "Click the designated center of the bell with black flat base.",
+    "Use the right arm to touch the white bell with black bottom's top center.",
+    "Pinpoint the white dome bell and click its top center.",
+    "Press the bell shaped like half-circle dome's top center with the right arm firmly.",
+    "Press down the plastic and metal bell's top center gently.",
+    "Guide the right arm to click the bell shaped like half-circle dome's top center.",
+    "Press the center top of the bell with black flat base.",
+    "Press down the top of the white bell with black bottom using the right arm.",
+    "Command the right arm to press the simple hand bell with black stand's top.",
+    "Tap the white bell's top center with the right arm.",
+    "Click the small desk bell for tapping at its top center on table.",
+    "Make the right arm interact with the compact tabletop bell's top center.",
+    "Push the bell with metallic top and plastic base's <top center> on the table",
+    "Click the small desk bell for tapping's <top center> using the right arm",
+    "Tap the top center of the simple hand bell with black stand.",
+    "Ask the right arm to interact with the bell with black flat base's top.",
+    "Tap the bell with metallic top and plastic base's top center with the right arm.",
+    "Click the white and black colored bell's top center using the right arm.",
+    "Activate the simple hand bell with black stand by pressing its top center.",
+    "Press the specified top area of the white bell with black bottom.",
+    "Direct the right arm to click the top of the white and black colored bell.",
+    "Use the right arm to press the compact tabletop bell's top section.",
+    "Press the top center of the white bell with black bottom on table.",
+    "Click the top center of the bell with metallic top and plastic base on table.",
+    "Press the center of the compact tabletop bell using the right arm.",
+    "Direct the right arm to touch the rounded bell with flat black part's top.",
+    "Locate the white bell with black bottom and click its top center.",
+    "Have the right arm click at the rounded bell with flat black part's top center.",
+    "Push the center of the small desk bell for tapping using the right arm.",
+    "Click using the right arm on the white and black colored bell's center.",
+    "Press the white dome bell's top center on the table.",
+    "Click the designated center of the rounded bell with flat black part.",
+    "Use the right arm to touch the simple hand bell with black stand's top center.",
+    "Pinpoint the simple hand bell with black stand and click its top center.",
+    "Press the rounded bell with flat black part's top center with the right arm firmly.",
+    "Press down the bell shaped like half-circle dome's top center gently.",
+    "Guide the right arm to click the bell with black flat base's top center.",
+    "Press the center top of the white and black colored bell.",
+    "Press down the top of the plastic and metal bell using the right arm.",
+    "Command the right arm to press the white dome bell's top.",
+    "Tap the bell with metallic top and plastic base's top center with the right arm.",
+    "Click the bell with black flat base at its top center on table.",
+    "Make the right arm interact with the small desk bell for tapping's top center.",
+    "Push the bell with metallic top and plastic base's <top center> on the table",
+    "Click the white bell's <top center> using the right arm"
+  ],
+  "unseen": [
+    "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 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.",
+    "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 medium-sized bell's 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 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.",
+    "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 smooth metal 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 smooth metal bell's 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 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 lightweight bell with smooth surface'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.",
+    "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.",
+    "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 lightweight bell with smooth surface's 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.",
+    "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 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.",
+    "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.",
+    "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 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 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.",
+    "Click the top center of the smooth metal 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 medium-sized bell's 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.",
+    "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 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.",
+    "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 medium-sized 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 smooth metal bell's 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.",
+    "Use the right arm to press the smooth metal 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 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 medium-sized bell'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.",
+    "Click the top center of the smooth metal 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 medium-sized bell's 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.",
+    "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.",
+    "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 medium-sized 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."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10002113.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10002113.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8fbc5679ba9cdc3ecb3eb5c443af830d2d83434
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10002113.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the center of the white and black colored bell using the left arm.",
+    "Press the top center of the bell shaped like half-circle dome on table.",
+    "Locate the compact tabletop bell and click its top center.",
+    "Click using the left arm on the simple hand bell with black stand's center.",
+    "Activate the white bell with black bottom by pressing its top center.",
+    "Press the center top of the rounded bell with flat black part.",
+    "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 at its top center on table.",
+    "Press the specified top area of the white bell.",
+    "Use the left arm to touch the bell with metallic top and plastic base's top center.",
+    "Tap the rounded bell with flat black part's top center with the left arm.",
+    "Press down the top of the white bell with black bottom using the left arm.",
+    "Push the small desk bell for tapping's <top center> on the table",
+    "Click the rounded bell with flat black part's <top center> using the left arm",
+    "Tap the top center of the bell shaped like half-circle dome.",
+    "Click the top center of the white dome bell on table.",
+    "Use the left arm to press the simple hand bell with black stand's top section.",
+    "Push the center of the white dome bell using the left arm.",
+    "Press the bell shaped like half-circle dome's top center on the table.",
+    "Guide the left arm to click the white bell with black bottom's top center.",
+    "Ask the left arm to interact with the white bell with black bottom's top.",
+    "Press down the white and black colored bell's top center gently.",
+    "Tap the white and black colored bell's top center with the left arm.",
+    "Click the bell with black flat base's top center using the left arm.",
+    "Click the designated center of the bell with black flat base.",
+    "Direct the left arm to touch the small desk bell for tapping's top.",
+    "Have the left arm click at the white and black colored bell's top center.",
+    "Direct the left arm to click the top of the plastic and metal bell.",
+    "Pinpoint the plastic and metal bell and click its top center.",
+    "Press the white bell's top center with the left arm firmly.",
+    "Command the left arm to press the bell with metallic top and plastic base's top.",
+    "Press the center of the bell shaped like half-circle dome using the left arm.",
+    "Press the top center of the white dome bell on table.",
+    "Locate the small desk bell for tapping and click its top center.",
+    "Click using the left arm on the small desk bell for tapping's center.",
+    "Activate the rounded bell with flat black part by pressing its top center.",
+    "Press the center top of the white bell with black bottom.",
+    "Make the left arm interact with the small desk bell for tapping's top center.",
+    "Click the bell with black flat base at its top center on table.",
+    "Press the specified top area of the rounded bell with flat black part.",
+    "Use the left arm to touch the white bell with black bottom's top center.",
+    "Tap the white bell's top center with the left arm.",
+    "Press down the top of the bell with metallic top and plastic base using the left arm.",
+    "Push the bell with metallic top and plastic base's <top center> on the table",
+    "Click the simple hand bell with black stand's <top center> using the left arm",
+    "Tap the top center of the white bell.",
+    "Click the top center of the simple hand bell with black stand on table.",
+    "Use the left arm to press the bell with black flat base's top section.",
+    "Push the center of the white bell using the left arm.",
+    "Press the white dome bell's top center on the table.",
+    "Guide the left arm to click the rounded bell with flat black part's top center.",
+    "Ask the left arm to interact with the white bell with black bottom's top.",
+    "Press down the white bell with black bottom's top center gently.",
+    "Tap the white and black colored bell's top center with the left arm.",
+    "Click the bell with metallic top and plastic base's top center using the left arm.",
+    "Click the designated center of the bell shaped like half-circle dome.",
+    "Direct the left arm to touch the bell with metallic top and plastic base's top.",
+    "Have the left arm click at the white and black colored bell's top center.",
+    "Direct the left arm to click the top of the compact tabletop bell.",
+    "Pinpoint the compact tabletop bell and click its top center.",
+    "Press the bell with black flat base's top center with the left arm firmly.",
+    "Command the left arm to press the bell with black flat base's top.",
+    "Press the center of the bell shaped like half-circle dome using the left arm.",
+    "Press the top center of the white bell with black bottom on table.",
+    "Locate the white bell with black bottom and click its top center.",
+    "Click using the left arm on the white bell with black bottom's center.",
+    "Activate the white and black colored bell by pressing its top center.",
+    "Press the center top of the white dome bell.",
+    "Make the left arm interact with the compact tabletop bell's top center.",
+    "Click the plastic and metal bell at its top center on table.",
+    "Press the specified top area of the white bell with black bottom.",
+    "Use the left arm to touch the rounded bell with flat black part's top center.",
+    "Tap the plastic and metal bell's top center with the left arm.",
+    "Press down the top of the rounded bell with flat black part using the left arm.",
+    "Push the bell with metallic top and plastic base's <top center> on the table",
+    "Click the white bell's <top center> using the left arm",
+    "Tap the top center of the bell with metallic top and plastic base.",
+    "Click the top center of the small desk bell for tapping on table.",
+    "Use the left arm to press the rounded bell with flat black part's top section.",
+    "Push the center of the white bell using the left arm.",
+    "Press the bell with black flat base's top center on the table.",
+    "Guide the left arm to click the bell with black flat base's top center.",
+    "Ask the left arm to interact with the small desk bell for tapping's top.",
+    "Press down the white dome bell's top center gently.",
+    "Tap the white dome bell's top center with the left arm.",
+    "Click the bell with black flat base's top center using the left arm.",
+    "Click the designated center of the rounded bell with flat black part.",
+    "Direct the left arm to touch the white bell with black bottom's top.",
+    "Have the left arm click at the bell with black flat base's top center.",
+    "Direct the left arm to click the top of the rounded bell with flat black part.",
+    "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.",
+    "Command the left arm to press the white bell's top.",
+    "Press the center of the bell with black flat base using the left arm.",
+    "Press the top center of the white and black colored bell on table.",
+    "Locate the white bell with black bottom and click its top center.",
+    "Click using the left arm on the small desk bell for tapping's center.",
+    "Activate the white bell by pressing its top center.",
+    "Press the center top of the compact tabletop bell.",
+    "Make the left arm interact with the bell shaped like half-circle dome's top center."
+  ],
+  "unseen": [
+    "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.",
+    "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 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 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 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.",
+    "Find the smooth metal bell and click its 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.",
+    "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 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 lightweight bell with smooth surface and click its top center.",
+    "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 smooth metal bell'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.",
+    "Find the smooth metal bell and click its top center.",
+    "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.",
+    "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.",
+    "Find the smooth metal bell and click its top center.",
+    "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.",
+    "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.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "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 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.",
+    "Find the medium-sized bell and click its 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.",
+    "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 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 medium-sized bell and click its 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.",
+    "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 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 lightweight bell with smooth surface and click its 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.",
+    "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 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.",
+    "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 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 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.",
+    "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 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.",
+    "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 smooth metal bell'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 medium-sized bell's top center.",
+    "Find the medium-sized bell and click its top center.",
+    "Click the top center of the medium-sized 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.",
+    "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.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the top center of the medium-sized bell.",
+    "Use the left arm to press the medium-sized bell's top center."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10002184.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10002184.json
new file mode 100644
index 0000000000000000000000000000000000000000..b23c053d8767ac891b0cdbe5da5ad7fe21324d64
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10002184.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press down the top of the blue dome-shaped bell using the left arm.",
+    "Press the top center of the flat-topped bell on table.",
+    "Guide the left arm to click the bell with circular body's top center.",
+    "Ask the left arm to interact with the blue dome-shaped bell's top.",
+    "Tap the compact bell with round base's top center with the left arm.",
+    "Activate the metal bell with plastic parts by pressing its top center.",
+    "Make the left arm interact with the smooth blue bell's top center.",
+    "Click using the left arm on the blue bell's center.",
+    "Push the center of the round bell using the left arm.",
+    "Click the round bell at its top center on table.",
+    "Pinpoint the bell with circular body and click its top center.",
+    "Push the brown-bottomed bell's <top center> on the table",
+    "Click the top center of the metal bell with plastic parts on table.",
+    "Press the specified top area of the small blue and brown bell.",
+    "Locate the small blue and brown bell and click its top center.",
+    "Click the designated center of the bell with circular body.",
+    "Click the smooth blue bell's <top center> using the left arm",
+    "Press the compact bell with round base's top center with the left arm firmly.",
+    "Use the left arm to touch the compact bell with round base's top center.",
+    "Press the center top of the round bell.",
+    "Click the round bell's top center using the left arm.",
+    "Press the center of the bell with protruding knob using the left arm.",
+    "Tap the top center of the compact bell with round base.",
+    "Use the left arm to press the bell with circular body's top section.",
+    "Tap the smooth blue bell's top center with the left arm.",
+    "Command the left arm to press the bell with circular body's top.",
+    "Direct the left arm to click the top of the brown-bottomed bell.",
+    "Direct the left arm to touch the blue dome-shaped bell's top.",
+    "Have the left arm click at the compact bell with round base's top center.",
+    "Press down the brown-bottomed bell's top center gently.",
+    "Press the blue bell's top center on the table.",
+    "Press down the top of the brown-bottomed bell using the left arm.",
+    "Press the top center of the metal bell with plastic parts on table.",
+    "Guide the left arm to click the bell with brown base's top center.",
+    "Ask the left arm to interact with the round bell's top.",
+    "Tap the brown-bottomed bell's top center with the left arm.",
+    "Activate the bell with protruding knob by pressing its top center.",
+    "Make the left arm interact with the blue dome-shaped bell's top center.",
+    "Click using the left arm on the bell with circular body's center.",
+    "Push the center of the bell with brown base using the left arm.",
+    "Click the bell with protruding knob at its top center on table.",
+    "Pinpoint the blue bell and click its top center.",
+    "Push the blue bell's <top center> on the table",
+    "Click the top center of the smooth blue bell on table.",
+    "Press the specified top area of the blue dome-shaped bell.",
+    "Locate the small blue and brown bell and click its top center.",
+    "Click the designated center of the bell with brown base.",
+    "Click the compact bell with round base's <top center> using the left arm",
+    "Press the blue bell's top center with the left arm firmly.",
+    "Use the left arm to touch the smooth blue bell's top center.",
+    "Press the center top of the brown-bottomed bell.",
+    "Click the blue dome-shaped bell's top center using the left arm.",
+    "Press the center of the bell with brown base using the left arm.",
+    "Tap the top center of the bell with protruding knob.",
+    "Use the left arm to press the compact bell with round base's top section.",
+    "Tap the metal bell with plastic parts's top center with the left arm.",
+    "Command the left arm to press the compact bell with round base's top.",
+    "Direct the left arm to click the top of the flat-topped bell.",
+    "Direct the left arm to touch the blue dome-shaped bell's top.",
+    "Have the left arm click at the small blue and brown bell's top center.",
+    "Press down the small blue and brown bell's top center gently.",
+    "Press the bell with circular body's top center on the table.",
+    "Press down the top of the compact bell with round base using the left arm.",
+    "Press the top center of the blue dome-shaped bell on table.",
+    "Guide the left arm to click the round bell's top center.",
+    "Ask the left arm to interact with the smooth blue bell's top.",
+    "Tap the bell with brown base's top center with the left arm.",
+    "Activate the compact bell with round base by pressing its top center.",
+    "Make the left arm interact with the small blue and brown bell's top center.",
+    "Click using the left arm on the bell with protruding knob's center.",
+    "Push the center of the round bell using the left arm.",
+    "Click the metal bell with plastic parts at its top center on table.",
+    "Pinpoint the round bell and click its top center.",
+    "Push the round bell's <top center> on the table",
+    "Click the top center of the blue dome-shaped bell on table.",
+    "Press the specified top area of the brown-bottomed bell.",
+    "Locate the smooth blue bell and click its top center.",
+    "Click the designated center of the round bell.",
+    "Click the bell with circular body's <top center> using the left arm",
+    "Press the flat-topped bell's top center with the left arm firmly.",
+    "Use the left arm to touch the bell with circular body's top center.",
+    "Press the center top of the blue bell.",
+    "Click the bell with protruding knob's top center using the left arm.",
+    "Press the center of the flat-topped bell using the left arm.",
+    "Tap the top center of the bell with brown base.",
+    "Use the left arm to press the bell with protruding knob's top section.",
+    "Tap the bell with protruding knob's top center with the left arm.",
+    "Command the left arm to press the brown-bottomed bell's top.",
+    "Direct the left arm to click the top of the flat-topped bell.",
+    "Direct the left arm to touch the bell with circular body's top.",
+    "Have the left arm click at the flat-topped bell's top center.",
+    "Press down the metal bell with plastic parts's top center gently.",
+    "Press the flat-topped bell's top center on the table.",
+    "Press down the top of the compact bell with round base using the left arm.",
+    "Press the top center of the bell with circular body on table.",
+    "Guide the left arm to click the brown-bottomed bell's top center.",
+    "Ask the left arm to interact with the bell with protruding knob's top.",
+    "Tap the blue bell's top center with the left arm.",
+    "Activate the metal bell with plastic parts by pressing its top center.",
+    "Make the left arm interact with the flat-topped bell's top center."
+  ],
+  "unseen": [
+    "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.",
+    "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 bell with raised round top'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 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 bell with raised round top's top.",
+    "Find the palm-sized bell 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 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 blue bell with glossy finish'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 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 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 blue bell with glossy finish'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 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.",
+    "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 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 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 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 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 bell with raised round top's top.",
+    "Find the palm-sized bell and click its 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 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.",
+    "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 palm-sized bell.",
+    "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 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 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 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 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 palm-sized bell's top.",
+    "Find the palm-sized bell 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 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 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 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.",
+    "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 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 bell with raised round top'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 bell with raised round top.",
+    "Click the bell with raised round top's top center on the table."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10002189.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10002189.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bd5b3bc65597791373f6f7d82f8a8e641baeecf
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10002189.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the white dome bell's top center with the right arm firmly.",
+    "Press the specified top area of the white and black colored bell.",
+    "Tap the bell with metallic top and plastic base's top center with the right arm.",
+    "Click the simple hand bell with black stand's top center using the right arm.",
+    "Press the white dome bell's top center on the table.",
+    "Activate the white bell with black bottom by pressing its top center.",
+    "Make the right arm interact with the white bell with black bottom's top center.",
+    "Locate the plastic and metal bell and click its top center.",
+    "Push the center of the compact tabletop bell using the right arm.",
+    "Direct the right arm to click the top of the simple hand bell with black stand.",
+    "Ask the right arm to interact with the rounded bell with flat black part's top.",
+    "Click using the right arm on the rounded bell with flat black part's center.",
+    "Press the center top of the white bell.",
+    "Guide the right arm to click the white dome bell's top center.",
+    "Click the designated center of the compact tabletop bell.",
+    "Press down the top of the white bell with black bottom using the right arm.",
+    "Direct the right arm to touch the simple hand bell with black stand's top.",
+    "Press down the white bell's top center gently.",
+    "Use the right arm to press the small desk bell for tapping's top section.",
+    "Have the right arm click at the rounded bell with flat black part's top center.",
+    "Command the right arm to press the white and black colored bell's top.",
+    "Press the top center of the bell with metallic top and plastic base on table.",
+    "Press the center of the white and black colored bell using the right arm.",
+    "Pinpoint the compact tabletop bell and click its top center.",
+    "Tap the top center of the rounded bell with flat black part.",
+    "Use the right arm to touch the simple hand bell with black stand's top center.",
+    "Push the simple hand bell with black stand's <top center> on the table",
+    "Click the top center of the white bell on table.",
+    "Click the white bell with black bottom's <top center> using the right arm",
+    "Tap the white and black colored bell's top center with the right arm.",
+    "Click the white and black colored bell at its top center on table.",
+    "Press the bell shaped like half-circle dome's top center with the right arm firmly.",
+    "Press the specified top area of the bell with metallic top and plastic base.",
+    "Tap the bell shaped like half-circle dome's top center with the right arm.",
+    "Click the compact tabletop bell's top center using the right arm.",
+    "Press the white dome bell's top center on the table.",
+    "Activate the bell with black flat base by pressing its top center.",
+    "Make the right arm interact with the small desk bell for tapping's top center.",
+    "Locate the bell shaped like half-circle dome and click its top center.",
+    "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.",
+    "Ask the right arm to interact with the simple hand bell with black stand's top.",
+    "Click using the right arm on the rounded bell with flat black part's center.",
+    "Press the center top of the rounded bell with flat black part.",
+    "Guide the right arm to click the bell with metallic top and plastic base's top center.",
+    "Click the designated center of the bell with black flat base.",
+    "Press down the top of the white bell using the right arm.",
+    "Direct the right arm to touch the compact tabletop bell's top.",
+    "Press down the plastic and metal bell's top center gently.",
+    "Use the right arm to press the white dome bell's top section.",
+    "Have the right arm click at the compact tabletop bell's top center.",
+    "Command the right arm to press the bell with black flat base's top.",
+    "Press the top center of the bell shaped like half-circle dome on table.",
+    "Press the center of the small desk bell for tapping using the right arm.",
+    "Pinpoint the bell with metallic top and plastic base and click its top center.",
+    "Tap the top center of the white bell with black bottom.",
+    "Use the right arm to touch the white bell with black bottom's top center.",
+    "Push the bell shaped like half-circle dome's <top center> on the table",
+    "Click the top center of the bell with black flat base on table.",
+    "Click the plastic and metal bell's <top center> using the right arm",
+    "Tap the small desk bell for tapping's top center with the right arm.",
+    "Click the bell with black flat base at its top center on table.",
+    "Press the small desk bell for tapping's top center with the right arm firmly.",
+    "Press the specified top area of the bell with black flat base.",
+    "Tap the white dome bell's top center with the right arm.",
+    "Click the white dome bell's top center using the right arm.",
+    "Press the small desk bell for tapping's top center on the table.",
+    "Activate the white bell with black bottom by pressing its top center.",
+    "Make the right arm interact with the compact tabletop bell's top center.",
+    "Locate the bell with black flat base and click its top center.",
+    "Push the center of the rounded bell with flat black part using the right arm.",
+    "Direct the right arm to click the top of the rounded bell with flat black part.",
+    "Ask the right arm to interact with the compact tabletop bell's top.",
+    "Click using the right arm on the bell with black flat base's center.",
+    "Press the center top of the plastic and metal bell.",
+    "Guide the right arm to click the rounded bell with flat black part's top center.",
+    "Click the designated center of the white dome bell.",
+    "Press down the top of the simple hand bell with black stand using the right arm.",
+    "Direct the right arm to touch the white dome bell's top.",
+    "Press down the simple hand bell with black stand's top center gently.",
+    "Use the right arm to press the white dome bell's top section.",
+    "Have the right arm click at the small desk bell for tapping's top center.",
+    "Command the right arm to press the white and black colored bell's top.",
+    "Press the top center of the bell shaped like half-circle dome on table.",
+    "Press the center of the compact tabletop bell using the right arm.",
+    "Pinpoint the plastic and metal bell and click its top center.",
+    "Tap the top center of the simple hand bell with black stand.",
+    "Use the right arm to touch the simple hand bell with black stand's top center.",
+    "Push the white dome bell's <top center> on the table",
+    "Click the top center of the bell with metallic top and plastic base on table.",
+    "Click the white bell's <top center> using the right arm",
+    "Tap the bell with black flat base's top center with the right arm.",
+    "Click the bell with metallic top and plastic base at its top center on table.",
+    "Press the compact tabletop bell's top center with the right arm firmly.",
+    "Press the specified top area of the white bell.",
+    "Tap the white bell's top center with the right arm.",
+    "Click the bell with metallic top and plastic base's top center using the right arm.",
+    "Press the white and black colored bell's top center on the table.",
+    "Activate the bell shaped like half-circle dome by pressing its top center.",
+    "Make the right arm interact with the white dome bell's top center."
+  ],
+  "unseen": [
+    "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 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.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "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 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.",
+    "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.",
+    "Find the smooth metal bell and click its top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "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.",
+    "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.",
+    "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 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 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 medium-sized bell's top center on the table.",
+    "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 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 smooth metal bell's 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.",
+    "Find the smooth metal bell and click its top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "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.",
+    "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.",
+    "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 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.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "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.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "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 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.",
+    "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.",
+    "Find the medium-sized bell and click its top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "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.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the smooth metal bell and click its top center.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "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.",
+    "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.",
+    "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 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.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "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 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.",
+    "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.",
+    "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 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.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Direct the right arm to click the smooth metal bell's top."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10003023.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10003023.json
new file mode 100644
index 0000000000000000000000000000000000000000..e410a2ee349460cef12f4b9bd803146c73dec6f4
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10003023.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the center of the rounded bell with flat black part using the left arm.",
+    "Click the simple hand bell with black stand's top center using the left arm.",
+    "Pinpoint the bell with metallic top and plastic base and click its top center.",
+    "Locate the compact tabletop bell and click its top center.",
+    "Press the white bell with black bottom's top center with the left arm firmly.",
+    "Press the top center of the white bell with black bottom on table.",
+    "Press the center top of the bell with black flat base.",
+    "Direct the left arm to click the top of the bell with black flat base.",
+    "Press down the white dome bell's top center gently.",
+    "Activate the plastic and metal bell by pressing its top center.",
+    "Click the compact tabletop bell at its top center on table.",
+    "Have the left arm click at the compact tabletop bell's top center.",
+    "Push the white bell's <top center> on the table",
+    "Guide the left arm to click the white and black colored bell's top center.",
+    "Direct the left arm to touch the compact tabletop bell's top.",
+    "Push the center of the bell shaped like half-circle dome using the left arm.",
+    "Press the white and black colored bell's top center on the table.",
+    "Use the left arm to press the bell with black flat base's top section.",
+    "Click using the left arm on the small desk bell for tapping's center.",
+    "Click the white dome bell's <top center> using the left arm",
+    "Ask the left arm to interact with the rounded bell with flat black part's top.",
+    "Command the left arm to press the bell with black flat base's top.",
+    "Tap the white dome bell's top center with the left arm.",
+    "Make the left arm interact with the simple hand bell with black stand's top center.",
+    "Click the top center of the bell shaped like half-circle dome on table.",
+    "Press the specified top area of the simple hand bell with black stand.",
+    "Press down the top of the bell shaped like half-circle dome using the left arm.",
+    "Click the designated center of the bell with black flat base.",
+    "Tap the top center of the plastic and metal bell.",
+    "Use the left arm to touch the compact tabletop bell's top center.",
+    "Tap the rounded bell with flat black part's top center with the left arm.",
+    "Press the center of the white and black colored bell using the left arm.",
+    "Click the white bell's top center using the left arm.",
+    "Pinpoint the white dome bell and click its top center.",
+    "Locate 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 the top center of the compact tabletop bell on table.",
+    "Press the center top of the white bell with black bottom.",
+    "Direct the left arm to click the top of the bell with metallic top and plastic base.",
+    "Press down the small desk bell for tapping's top center gently.",
+    "Activate the white dome bell by pressing its top center.",
+    "Click the simple hand bell with black stand at its top center on table.",
+    "Have the left arm click at the compact tabletop bell's top center.",
+    "Push the bell shaped like half-circle dome's <top center> on the 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.",
+    "Push the center of the bell with metallic top and plastic base using the left arm.",
+    "Press the small desk bell for tapping's top center on the table.",
+    "Use the left arm to press the white dome bell's top section.",
+    "Click using the left arm on the plastic and metal bell's center.",
+    "Click the bell shaped like half-circle dome's <top center> using the left arm",
+    "Ask the left arm to interact with the plastic and metal bell's top.",
+    "Command the left arm to press the plastic and metal bell's top.",
+    "Tap the simple hand bell with black stand's top center with the left arm.",
+    "Make the left arm interact with the bell with black flat base's top center.",
+    "Click the top center of the bell shaped like half-circle dome on table.",
+    "Press the specified top area of the rounded bell with flat black part.",
+    "Press down the top of the white bell with black bottom using the left arm.",
+    "Click the designated center of the bell shaped like half-circle dome.",
+    "Tap the top center of the bell shaped like half-circle dome.",
+    "Use the left arm to touch the white bell with black bottom's top center.",
+    "Tap the simple hand bell with black stand's top center with the left arm.",
+    "Press the center of the bell with black flat base using the left arm.",
+    "Click the bell with black flat base's top center using the left arm.",
+    "Pinpoint the bell with metallic top and plastic base and click its top center.",
+    "Locate the bell with metallic top and plastic base and click its top center.",
+    "Press the bell with black flat base's top center with the left arm firmly.",
+    "Press the top center of the bell shaped like half-circle dome on table.",
+    "Press the center top of the compact tabletop bell.",
+    "Direct the left arm to click the top of the white and black colored bell.",
+    "Press down the plastic and metal bell's top center gently.",
+    "Activate the rounded bell with flat black part by pressing its top center.",
+    "Click the bell with black flat base at its top center on table.",
+    "Have the left arm click at the plastic and metal bell's top center.",
+    "Push the rounded bell with flat black part's <top center> on the table",
+    "Guide the left arm to click the rounded bell with flat black part's top center.",
+    "Direct the left arm to touch the white bell's top.",
+    "Push the center of the rounded bell with flat black part using the left arm.",
+    "Press the bell shaped like half-circle dome's top center on the table.",
+    "Use the left arm to press the bell shaped like half-circle dome's top section.",
+    "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",
+    "Ask the left arm to interact with the small desk bell for tapping's top.",
+    "Command the left arm to press the bell with black flat base's top.",
+    "Tap the bell with black flat base's top center with the left arm.",
+    "Make the left arm interact with the bell with black flat base's top center.",
+    "Click the top center of the rounded bell with flat black part on table.",
+    "Press the specified top area of the compact tabletop bell.",
+    "Press down the top of the small desk bell for tapping using the left arm.",
+    "Click the designated center of the rounded bell with flat black part.",
+    "Tap the top center of the simple hand bell with black stand.",
+    "Use the left arm to touch the compact tabletop bell's top center.",
+    "Tap the white dome bell's top center with the left arm.",
+    "Press the center of the plastic and metal bell using the left arm.",
+    "Click the white bell with black bottom's top center using the left arm.",
+    "Pinpoint the white bell with black bottom and click its top center.",
+    "Locate the white dome bell and click its top center.",
+    "Press the white dome bell's top center with the left arm firmly.",
+    "Press the top center of the rounded bell with flat black part on table.",
+    "Press the center top of the simple hand bell with black stand."
+  ],
+  "unseen": [
+    "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 medium-sized bell.",
+    "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 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.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "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.",
+    "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 top center of the lightweight bell with smooth surface.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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.",
+    "Click the top center of the medium-sized bell.",
+    "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 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 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.",
+    "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.",
+    "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 lightweight bell with smooth surface's top center.",
+    "Click the top center of the smooth metal bell.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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.",
+    "Click the top center of the medium-sized bell.",
+    "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.",
+    "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.",
+    "Click the top center of the medium-sized bell.",
+    "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 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.",
+    "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 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.",
+    "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 top center of the medium-sized bell.",
+    "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 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.",
+    "Click the top center of the smooth metal bell.",
+    "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.",
+    "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 smooth metal bell.",
+    "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 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.",
+    "Use the left arm to press the smooth metal bell's top center."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10003062.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10003062.json
new file mode 100644
index 0000000000000000000000000000000000000000..8da5d9f44ee52203ebf378a2a5bd1e375f70e928
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10003062.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Command the left arm to press the blue bell's top.",
+    "Pinpoint the blue dome-shaped bell and click its top center.",
+    "Use the left arm to touch the blue bell's top center.",
+    "Press down the top of the brown-bottomed bell using the left arm.",
+    "Tap the top center of the brown-bottomed bell.",
+    "Press the center top of the bell with protruding knob.",
+    "Click using the left arm on the smooth blue bell's center.",
+    "Tap the smooth blue bell's top center with the left arm.",
+    "Locate the round bell and click its top center.",
+    "Have the left arm click at the round bell's top center.",
+    "Press the top center of the bell with circular body on table.",
+    "Activate the compact bell with round base by pressing its top center.",
+    "Make the left arm interact with the flat-topped bell's top center.",
+    "Press the center of the compact bell with round base using the left arm.",
+    "Push the center of the bell with brown base using the left arm.",
+    "Click the bell with circular body's <top center> using the left arm",
+    "Direct the left arm to touch the metal bell with plastic parts's top.",
+    "Tap the compact bell with round base's top center with the left arm.",
+    "Click the small blue and brown bell at its top center on table.",
+    "Click the designated center of the round bell.",
+    "Press the metal bell with plastic parts's top center with the left arm firmly.",
+    "Click the bell with circular body's top center using the left arm.",
+    "Press down the bell with protruding knob's top center gently.",
+    "Direct the left arm to click the top of the compact bell with round base.",
+    "Click the top center of the bell with circular body on table.",
+    "Guide the left arm to click the bell with circular body's top center.",
+    "Press the specified top area of the bell with circular body.",
+    "Push the bell with brown base's <top center> on the table",
+    "Use the left arm to press the flat-topped bell's top section.",
+    "Press the metal bell with plastic parts's top center on the table.",
+    "Ask the left arm to interact with the small blue and brown bell's top.",
+    "Command the left arm to press the round bell's top.",
+    "Pinpoint the brown-bottomed bell and click its top center.",
+    "Use the left arm to touch the brown-bottomed bell's top center.",
+    "Press down the top of the brown-bottomed bell using the left arm.",
+    "Tap the top center of the small blue and brown bell.",
+    "Press the center top of the brown-bottomed bell.",
+    "Click using the left arm on the small blue and brown bell's center.",
+    "Tap the bell with circular body's top center with the left arm.",
+    "Locate the blue bell and click its top center.",
+    "Have the left arm click at the blue dome-shaped bell's top center.",
+    "Press the top center of the small blue and brown bell on table.",
+    "Activate the round bell by pressing its top center.",
+    "Make the left arm interact with the brown-bottomed bell's top center.",
+    "Press the center of the bell with brown base using the left arm.",
+    "Push the center of the blue dome-shaped bell using 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.",
+    "Tap the smooth blue bell's top center with the left arm.",
+    "Click the flat-topped bell at its top center on table.",
+    "Click the designated center of the bell with protruding knob.",
+    "Press the round bell's top center with the left arm firmly.",
+    "Click the bell with brown base's top center using the left arm.",
+    "Press down the metal bell with plastic parts's top center gently.",
+    "Direct the left arm to click the top of the bell with circular body.",
+    "Click the top center of the smooth blue bell on table.",
+    "Guide the left arm to click the bell with circular body's top center.",
+    "Press the specified top area of the metal bell with plastic parts.",
+    "Push the bell with circular body's <top center> on the table",
+    "Use the left arm to press the flat-topped bell's top section.",
+    "Press the compact bell with round base's top center on the table.",
+    "Ask the left arm to interact with the blue bell's top.",
+    "Command the left arm to press the metal bell with plastic parts's top.",
+    "Pinpoint the bell with circular body and click its top center.",
+    "Use the left arm to touch the bell with brown base's top center.",
+    "Press down the top of the bell with protruding knob using the left arm.",
+    "Tap the top center of the smooth blue bell.",
+    "Press the center top of the bell with protruding knob.",
+    "Click using the left arm on the brown-bottomed bell's center.",
+    "Tap the brown-bottomed bell's top center with the left arm.",
+    "Locate the compact bell with round base and click its top center.",
+    "Have the left arm click at the round bell's top center.",
+    "Press the top center of the small blue and brown bell on table.",
+    "Activate the brown-bottomed bell by pressing its top center.",
+    "Make the left arm interact with the metal bell with plastic parts's top center.",
+    "Press the center of the bell with protruding knob using the left arm.",
+    "Push the center of the compact bell with round base using the left arm.",
+    "Click the brown-bottomed bell's <top center> using the left arm",
+    "Direct the left arm to touch the compact bell with round base's top.",
+    "Tap the flat-topped bell's top center with the left arm.",
+    "Click the bell with circular body at its top center on table.",
+    "Click the designated center of the flat-topped bell.",
+    "Press the bell with circular body's top center with the left arm firmly.",
+    "Click the bell with brown base's top center using the left arm.",
+    "Press down the smooth blue bell's top center gently.",
+    "Direct the left arm to click the top of the small blue and brown bell.",
+    "Click the top center of the bell with brown base on table.",
+    "Guide the left arm to click the bell with circular body's top center.",
+    "Press the specified top area of the bell with protruding knob.",
+    "Push the smooth blue bell's <top center> on the table",
+    "Use the left arm to press the flat-topped bell's top section.",
+    "Press the metal bell with plastic parts's top center on the table.",
+    "Ask the left arm to interact with the smooth blue bell's top.",
+    "Command the left arm to press the blue bell's top.",
+    "Pinpoint the smooth blue bell and click its top center.",
+    "Use the left arm to touch the blue bell's top center.",
+    "Press down the top of the brown-bottomed bell using the left arm.",
+    "Tap the top center of the compact bell with round base.",
+    "Press the center top of the small blue and brown bell.",
+    "Click using the left arm on the compact bell with round base's center."
+  ],
+  "unseen": [
+    "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 blue bell with glossy finish and click its 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.",
+    "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 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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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.",
+    "Click the top center of the bell with raised round top.",
+    "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.",
+    "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.",
+    "Find the blue bell with glossy finish and click its top center.",
+    "Click the top center of the palm-sized bell.",
+    "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 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.",
+    "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.",
+    "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 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.",
+    "Click the top center of the palm-sized bell.",
+    "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 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 bell with raised round top and click its 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.",
+    "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.",
+    "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.",
+    "Click the top center of the bell with raised round top.",
+    "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 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.",
+    "Find the palm-sized bell and click its top center.",
+    "Click the top center of the palm-sized bell.",
+    "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 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 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.",
+    "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 palm-sized bell's top center.",
+    "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.",
+    "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.",
+    "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 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.",
+    "Click the top center of the bell with raised round top.",
+    "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 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 palm-sized bell'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.",
+    "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 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."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10003210.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10003210.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d8909e694d16d12188be09a3cbbe3a798acdf18
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10003210.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the center of the white bell with black bottom using the right arm.",
+    "Activate the white bell with black bottom by pressing its top center.",
+    "Press down the white bell with black bottom's top center gently.",
+    "Locate the rounded bell with flat black part and click its top center.",
+    "Press the specified top area of the white bell.",
+    "Use the right arm to touch the rounded bell with flat black part's top center.",
+    "Press the white bell with black bottom's top center on the table.",
+    "Command the right arm to press the simple hand bell with black stand's top.",
+    "Press the white bell's top center with the right arm firmly.",
+    "Tap the simple hand bell with black stand's top center with the right arm.",
+    "Click the bell with black flat base at its top center on table.",
+    "Make the right arm interact with the bell with metallic top and plastic base's top center.",
+    "Tap the bell shaped like half-circle dome's top center with the right arm.",
+    "Pinpoint the simple hand bell with black stand and click its top center.",
+    "Press down the top of the bell with black flat base using the right arm.",
+    "Press the center of the white and black colored bell using the right arm.",
+    "Tap the top center of the rounded bell with flat black part.",
+    "Press the top center of the bell with metallic top and plastic base on table.",
+    "Press the center top of the bell with black flat base.",
+    "Click the compact tabletop bell's <top center> using the right arm",
+    "Ask the right arm to interact with the rounded bell with flat black part's top.",
+    "Guide the right arm to click the white and black colored bell's top center.",
+    "Click the designated center of the bell shaped like half-circle dome.",
+    "Use the right arm to press the white and black colored bell's top section.",
+    "Direct the right arm to click the top of the bell with metallic top and plastic base.",
+    "Click using the right arm on the white and black colored bell's center.",
+    "Direct the right arm to touch the plastic and metal bell's top.",
+    "Click the top center of the plastic and metal bell on table.",
+    "Click the white bell's top center using the right arm.",
+    "Push the white dome bell's <top center> on the table",
+    "Have the right arm click at the small desk bell for tapping's top center.",
+    "Push the center of the bell shaped like half-circle dome using the right arm.",
+    "Activate the white bell by pressing its top center.",
+    "Press down the plastic and metal bell's top center gently.",
+    "Locate the bell with black flat base and click its top center.",
+    "Press the specified top area of the bell with metallic top and plastic base.",
+    "Use the right arm to touch the white dome bell's top center.",
+    "Press the rounded bell with flat black part's top center on the table.",
+    "Command the right arm to press the compact tabletop bell's top.",
+    "Press the plastic and metal bell's top center with the right arm firmly.",
+    "Tap the white dome bell's top center with the right arm.",
+    "Click the bell with metallic top and plastic base at its top center on table.",
+    "Make the right arm interact with the small desk bell for tapping's top center.",
+    "Tap the rounded bell with flat black part's top center with the right arm.",
+    "Pinpoint the plastic and metal bell and click its top center.",
+    "Press down the top of the white and black colored bell using the right arm.",
+    "Press the center of the small desk bell for tapping using the right arm.",
+    "Tap the top center of the white bell with black bottom.",
+    "Press the top center of the bell with black flat base on table.",
+    "Press the center top of the compact tabletop bell.",
+    "Click the compact tabletop bell's <top center> using the right arm",
+    "Ask the right arm to interact with the small desk bell for tapping's top.",
+    "Guide the right arm to click the small desk bell for tapping's top center.",
+    "Click the designated center of the rounded bell with flat black part.",
+    "Use the right arm to press the bell with black flat base's top section.",
+    "Direct the right arm to click the top of the bell with black flat base.",
+    "Click using the right arm on the small desk bell for tapping's center.",
+    "Direct the right arm to touch the bell with black flat base's top.",
+    "Click the top center of the small desk bell for tapping on table.",
+    "Click the plastic and metal 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 simple hand bell with black stand's top center.",
+    "Push the center of the white and black colored bell using the right arm.",
+    "Activate the bell with black flat base by pressing its top center.",
+    "Press down the rounded bell with flat black part's top center gently.",
+    "Locate the bell shaped like half-circle dome and click its top center.",
+    "Press the specified top area of the compact tabletop bell.",
+    "Use the right arm to touch the bell with black flat base's top center.",
+    "Press the bell with metallic top and plastic base's top center on the table.",
+    "Command the right arm to press the small desk bell for tapping's top.",
+    "Press the compact tabletop bell's top center with the right arm firmly.",
+    "Tap the compact tabletop bell's top center with the right arm.",
+    "Click the white bell with black bottom at its top center on table.",
+    "Make the right arm interact with the white and black colored bell's top center.",
+    "Tap the plastic and metal bell's top center with the right arm.",
+    "Pinpoint the rounded bell with flat black part and click its top center.",
+    "Press down the top of the plastic and metal bell using the right arm.",
+    "Press the center of the bell with black flat base using the right arm.",
+    "Tap the top center of the white and black colored bell.",
+    "Press the top center of the white dome bell on table.",
+    "Press the center top of the bell shaped like half-circle dome.",
+    "Click the white bell's <top center> using the right arm",
+    "Ask the right arm to interact with the white bell's top.",
+    "Guide the right arm to click the white dome bell's top center.",
+    "Click the designated center of the bell with black flat base.",
+    "Use the right arm to press the white and black colored bell's top section.",
+    "Direct the right arm to click the top of the simple hand bell with black stand.",
+    "Click using the right arm on the white and black colored bell's center.",
+    "Direct the right arm to touch the white bell with black bottom's top.",
+    "Click the top center of the rounded bell with flat black part on table.",
+    "Click the rounded bell with flat black part's top center using the right arm.",
+    "Push the compact tabletop bell's <top center> on the table",
+    "Have the right arm click at the white and black colored bell's top center.",
+    "Push the center of the white bell with black bottom using the right arm.",
+    "Activate the white bell with black bottom by pressing its top center.",
+    "Press down the compact tabletop bell's top center gently.",
+    "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.",
+    "Use the right arm to touch the bell with metallic top and plastic base's top center.",
+    "Press the simple hand bell with black stand's top center on the table."
+  ],
+  "unseen": [
+    "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.",
+    "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 smooth metal 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.",
+    "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.",
+    "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 medium-sized bell's top.",
+    "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 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.",
+    "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 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.",
+    "Direct the right arm to click the smooth metal 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 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 medium-sized bell's 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 lightweight bell with smooth surface.",
+    "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 medium-sized 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 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 medium-sized bell's 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 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.",
+    "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 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 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 medium-sized bell's top.",
+    "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 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.",
+    "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 lightweight bell with smooth surface.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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 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 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.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004024.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004024.json
new file mode 100644
index 0000000000000000000000000000000000000000..0335684e3956e5d11875aae6b05a01dd2d26a907
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004024.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Ask the left arm to interact with the bell with protruding knob's top.",
+    "Click the small blue and brown bell's top center using the left arm.",
+    "Command the left arm to press the bell with protruding knob's top.",
+    "Tap the top center of the bell with brown base.",
+    "Click the top center of the blue dome-shaped bell on table.",
+    "Activate the small blue and brown bell by pressing its top center.",
+    "Direct the left arm to click the top of the flat-topped bell.",
+    "Tap the bell with protruding knob's top center with the left arm.",
+    "Pinpoint the bell with circular body and click its top center.",
+    "Press the center of the blue bell using the left arm.",
+    "Press the specified top area of the small blue and brown bell.",
+    "Locate the flat-topped bell and click its top center.",
+    "Click using the left arm on the smooth blue bell's center.",
+    "Click the blue bell's <top center> using the left arm",
+    "Press down the top of the small blue and brown bell using the left arm.",
+    "Press down the round bell's top center gently.",
+    "Push the smooth blue bell's <top center> on the table",
+    "Tap the metal bell with plastic parts's top center with the left arm.",
+    "Press the bell with brown base's top center with the left arm firmly.",
+    "Press the blue bell's top center on the table.",
+    "Click the designated center of the bell with protruding knob.",
+    "Use the left arm to touch the blue bell's top center.",
+    "Press the center top of the round bell.",
+    "Press the top center of the bell with protruding knob on table.",
+    "Use the left arm to press the bell with brown base's top section.",
+    "Have the left arm click at the bell with brown base's top center.",
+    "Click the flat-topped bell at its top center on table.",
+    "Direct the left arm to touch the compact bell with round base's top.",
+    "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.",
+    "Push the center of the smooth blue bell using the left arm.",
+    "Ask the left arm to interact with the flat-topped bell's top.",
+    "Click the round bell's top center using the left arm.",
+    "Command the left arm to press the smooth blue bell's top.",
+    "Tap the top center of the blue dome-shaped bell.",
+    "Click the top center of the smooth blue bell on table.",
+    "Activate the brown-bottomed bell by pressing its top center.",
+    "Direct the left arm to click the top of the round bell.",
+    "Tap the blue dome-shaped bell's top center with the left arm.",
+    "Pinpoint the metal bell with plastic parts and click its top center.",
+    "Press the center of the brown-bottomed bell using the left arm.",
+    "Press the specified top area of the small blue and brown bell.",
+    "Locate the bell with circular body and click its top center.",
+    "Click using the left arm on the bell with brown base's center.",
+    "Click the bell with protruding knob's <top center> using the left arm",
+    "Press down the top of the blue bell using the left arm.",
+    "Press down the bell with brown base's top center gently.",
+    "Push the flat-topped bell's <top center> on the table",
+    "Tap the bell with protruding knob's top center with the left arm.",
+    "Press the round bell's top center with the left arm firmly.",
+    "Press the bell with brown base's top center on the table.",
+    "Click the designated center of the metal bell with plastic parts.",
+    "Use the left arm to touch the brown-bottomed bell's top center.",
+    "Press the center top of the round bell.",
+    "Press the top center of the smooth blue bell on table.",
+    "Use the left arm to press the round bell's top section.",
+    "Have the left arm click at the bell with circular body's top center.",
+    "Click the blue bell at its top center on table.",
+    "Direct the left arm to touch the smooth blue bell's top.",
+    "Guide the left arm to click the small blue and brown bell's top center.",
+    "Make the left arm interact with the brown-bottomed bell's top center.",
+    "Push the center of the bell with brown base using the left arm.",
+    "Ask the left arm to interact with the smooth blue bell's top.",
+    "Click the metal bell with plastic parts's top center using the left arm.",
+    "Command the left arm to press the metal bell with plastic parts's top.",
+    "Tap the top center of the bell with circular body.",
+    "Click the top center of the bell with protruding knob on table.",
+    "Activate the blue bell by pressing its top center.",
+    "Direct the left arm to click the top of the blue bell.",
+    "Tap the round bell's top center with the left arm.",
+    "Pinpoint the bell with brown base and click its top center.",
+    "Press the center of the small blue and brown bell using the left arm.",
+    "Press the specified top area of the round bell.",
+    "Locate the brown-bottomed bell and click its top center.",
+    "Click using the left arm on the brown-bottomed bell's center.",
+    "Click the flat-topped bell's <top center> using the left arm",
+    "Press down the top of the metal bell with plastic parts using the left arm.",
+    "Press down the bell with brown base's top center gently.",
+    "Push the metal bell with plastic parts's <top center> on the table",
+    "Tap the blue bell's top center with the left arm.",
+    "Press the bell with circular body's top center with the left arm firmly.",
+    "Press the small blue and brown bell's top center on the table.",
+    "Click the designated center of the bell with protruding knob.",
+    "Use the left arm to touch the flat-topped bell's top center.",
+    "Press the center top of the bell with circular body.",
+    "Press the top center of the round bell on table.",
+    "Use the left arm to press the round bell's top section.",
+    "Have the left arm click at the compact bell with round base's top center.",
+    "Click the round bell at its top center on table.",
+    "Direct the left arm to touch the flat-topped bell's top.",
+    "Guide the left arm to click the flat-topped bell's top center.",
+    "Make the left arm interact with the smooth blue bell's top center.",
+    "Push the center of the brown-bottomed bell using the left arm.",
+    "Ask the left arm to interact with the metal bell with plastic parts's top.",
+    "Click the small blue and brown bell's top center using the left arm.",
+    "Command the left arm to press the small blue and brown bell's top.",
+    "Tap the top center of the compact bell with round base.",
+    "Click the top center of the blue bell on table.",
+    "Activate the brown-bottomed bell by pressing its top center.",
+    "Direct the left arm to click the top of the bell with circular body."
+  ],
+  "unseen": [
+    "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.",
+    "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 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 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 palm-sized bell and click its 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 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.",
+    "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 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.",
+    "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 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 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 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.",
+    "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.",
+    "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 palm-sized bell'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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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 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.",
+    "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.",
+    "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.",
+    "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 palm-sized bell and click its 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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004026.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004026.json
new file mode 100644
index 0000000000000000000000000000000000000000..9787500e891f91107fa8ceef2f5bfd57700a9e07
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004026.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to touch the rounded bell with flat black part's top center.",
+    "Direct the right arm to touch the white and black colored bell's top.",
+    "Tap the top center of the plastic and metal bell.",
+    "Press the specified top area of the small desk bell for tapping.",
+    "Press down the white and black colored bell's top center gently.",
+    "Tap the small desk bell for tapping's top center with the right arm.",
+    "Direct the right arm to click the top of the small desk bell for tapping.",
+    "Click the small desk bell for tapping's top center using the right arm.",
+    "Press the center top of the white and black colored bell.",
+    "Click using the right arm on the bell shaped like half-circle dome's center.",
+    "Press down the top of the bell with black flat base using the right arm.",
+    "Have the right arm click at the white and black colored bell's top center.",
+    "Press the white bell's top center with the right arm firmly.",
+    "Guide the right arm to click the white and black colored bell's top center.",
+    "Press the simple hand bell with black stand's top center on the table.",
+    "Push the simple hand bell with black stand's <top center> on the table",
+    "Tap the bell shaped like half-circle dome's top center with the right arm.",
+    "Click the designated center of the rounded bell with flat black part.",
+    "Click the white and black colored bell at its top center on table.",
+    "Push the center of the white dome bell using the right arm.",
+    "Use the right arm to press the bell with black flat base's top section.",
+    "Locate the bell with metallic top and plastic base and click its top center.",
+    "Pinpoint the compact tabletop bell and click its top center.",
+    "Activate the white bell by pressing its top center.",
+    "Make the right arm interact with the small desk bell for tapping's top center.",
+    "Press the center of the rounded bell with flat black part using the right arm.",
+    "Command the right arm to press the plastic and metal bell's top.",
+    "Ask the right arm to interact with the white bell's top.",
+    "Click the simple hand bell with black stand's <top center> using the right arm",
+    "Click the top center of the bell shaped like half-circle dome on table.",
+    "Press the top center of the white and black colored bell on table.",
+    "Use the right arm to touch the bell with black flat base's top center.",
+    "Direct the right arm to touch the small desk bell for tapping's top.",
+    "Tap the top center of the white and black colored bell.",
+    "Press the specified top area of the white bell.",
+    "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.",
+    "Direct the right arm to click the top of the bell with black flat base.",
+    "Click the bell with metallic top and plastic base's top center using the right arm.",
+    "Press the center top of the white bell with black bottom.",
+    "Click using the right arm on the rounded bell with flat black part's center.",
+    "Press down the top of the white bell with black bottom using the right arm.",
+    "Have the right arm click at the plastic and metal bell's top center.",
+    "Press the white bell with black bottom's top center with the right arm firmly.",
+    "Guide the right arm to click the small desk bell for tapping's top center.",
+    "Press the bell shaped like half-circle dome's top center on the table.",
+    "Push the small desk bell for tapping's <top center> on the table",
+    "Tap the simple hand bell with black stand's top center with the right arm.",
+    "Click the designated center of the white dome bell.",
+    "Click the bell shaped like half-circle dome at its top center on table.",
+    "Push the center of the white bell using the right arm.",
+    "Use the right arm to press the white bell with black bottom's top section.",
+    "Locate the bell with black flat base and click its top center.",
+    "Pinpoint the plastic and metal bell and click its top center.",
+    "Activate the small desk bell for tapping by pressing its top center.",
+    "Make the right arm interact with the bell with metallic top and plastic base's top center.",
+    "Press the center of the bell shaped like half-circle dome using the right arm.",
+    "Command the right arm to press the compact tabletop bell's top.",
+    "Ask the right arm to interact with the compact tabletop bell's top.",
+    "Click the bell with black flat base's <top center> using the right arm",
+    "Click the top center of the white and black colored bell on table.",
+    "Press the top center of the small desk bell for tapping on table.",
+    "Use the right arm to touch the white and black colored bell's top center.",
+    "Direct the right arm to touch the small desk bell for tapping's top.",
+    "Tap the top center of the bell with black flat base.",
+    "Press the specified top area of the plastic and metal bell.",
+    "Press down the rounded bell with flat black part's top center gently.",
+    "Tap the bell with black flat base's top center with 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 white and black colored bell.",
+    "Click using the right arm on the small desk bell for tapping's center.",
+    "Press down the top of the white dome bell using the right arm.",
+    "Have the right arm click at the rounded bell with flat black part's top center.",
+    "Press the white dome bell's top center with the right arm firmly.",
+    "Guide the right arm to click the bell with black flat base's top center.",
+    "Press the bell shaped like half-circle dome's top center on the table.",
+    "Push the compact tabletop bell's <top center> on the table",
+    "Tap the plastic and metal bell's top center with the right arm.",
+    "Click the designated center of the small desk bell for tapping.",
+    "Click the bell with black flat base at its top center on table.",
+    "Push the center of the bell with metallic top and plastic base using the right arm.",
+    "Use the right arm to press the compact tabletop bell's top section.",
+    "Locate the rounded bell with flat black part and click its top center.",
+    "Pinpoint the rounded bell with flat black part and click its top center.",
+    "Activate the white and black colored bell by pressing its top center.",
+    "Make the right arm interact with the plastic and metal bell's top center.",
+    "Press the center of the white dome bell using the right arm.",
+    "Command the right arm to press the white and black colored bell's top.",
+    "Ask the right arm to interact with the compact tabletop bell's top.",
+    "Click the white dome bell's <top center> using the right arm",
+    "Click the top center of the simple hand bell with black stand on table.",
+    "Press the top center of the bell with black flat base on table.",
+    "Use the right arm to touch the simple hand bell with black stand's top center.",
+    "Direct the right arm to touch the compact tabletop bell's top.",
+    "Tap the top center of the white bell.",
+    "Press the specified top area of the white bell.",
+    "Press down the bell with black flat base's top center gently.",
+    "Tap the white bell's top center with the right arm.",
+    "Direct the right arm to click the top of the bell with black flat base."
+  ],
+  "unseen": [
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "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 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 medium-sized bell's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "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.",
+    "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.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "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.",
+    "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 lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "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.",
+    "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 medium-sized bell's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "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.",
+    "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.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "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.",
+    "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 medium-sized bell's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "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.",
+    "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 medium-sized bell's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "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.",
+    "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.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "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 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.",
+    "Click the top center of the medium-sized bell.",
+    "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 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.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "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.",
+    "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 lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "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 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.",
+    "Click the top center of the smooth metal bell.",
+    "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.",
+    "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 lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "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 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 lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the medium-sized bell."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004036.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004036.json
new file mode 100644
index 0000000000000000000000000000000000000000..a867b983a7806e3e73c020b975a24d9ae2c3ce09
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004036.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Guide the right arm to click the small blue and brown bell's top center.",
+    "Locate the round bell and click its top center.",
+    "Tap the bell with brown base's top center with the right arm.",
+    "Push the round bell's <top center> on the table",
+    "Press the top center of the blue bell on table.",
+    "Click the designated center of the bell with protruding knob.",
+    "Press the bell with brown base's top center with the right arm firmly.",
+    "Tap the top center of the flat-topped bell.",
+    "Push the center of the metal bell with plastic parts using the right arm.",
+    "Ask the right arm to interact with the small blue and brown bell's top.",
+    "Tap the metal bell with plastic parts's top center with the right arm.",
+    "Press the small blue and brown bell's top center on the table.",
+    "Press down the small blue and brown bell's top center gently.",
+    "Press the specified top area of the metal bell with plastic parts.",
+    "Press the center of the small blue and brown bell using the right arm.",
+    "Make the right arm interact with the small blue and brown bell's top center.",
+    "Use the right arm to press the blue dome-shaped bell's top section.",
+    "Have the right arm click at the metal bell with plastic parts's top center.",
+    "Activate the metal bell with plastic parts by pressing its top center.",
+    "Direct the right arm to touch the bell with protruding knob's top.",
+    "Click the brown-bottomed bell's top center using the right arm.",
+    "Use the right arm to touch the compact bell with round base's top center.",
+    "Click the top center of the bell with circular body on table.",
+    "Click the bell with protruding knob at its top center on table.",
+    "Press down the top of the small blue and brown bell using the right arm.",
+    "Press the center top of the bell with brown base.",
+    "Click the bell with circular body's <top center> using the right arm",
+    "Direct the right arm to click the top of the small blue and brown bell.",
+    "Click using the right arm on the blue dome-shaped bell's center.",
+    "Pinpoint the brown-bottomed bell and click its top center.",
+    "Command the right arm to press the small blue and brown bell's top.",
+    "Guide the right arm to click the small blue and brown bell's top center.",
+    "Locate the flat-topped bell and click its top center.",
+    "Tap the brown-bottomed bell's top center with the right arm.",
+    "Push the compact bell with round base's <top center> on the table",
+    "Press the top center of the round bell on table.",
+    "Click the designated center of the metal bell with plastic parts.",
+    "Press the compact bell with round base's top center with the right arm firmly.",
+    "Tap the top center of the metal bell with plastic parts.",
+    "Push the center of the small blue and brown bell using the right arm.",
+    "Ask the right arm to interact with the small blue and brown bell's top.",
+    "Tap the bell with protruding knob's top center with the right arm.",
+    "Press the compact bell with round base's top center on the table.",
+    "Press down the small blue and brown bell's top center gently.",
+    "Press the specified top area of the small blue and brown bell.",
+    "Press the center of the blue bell using the right arm.",
+    "Make the right arm interact with the brown-bottomed bell's top center.",
+    "Use the right arm to press the smooth blue bell's top section.",
+    "Have the right arm click at the round bell's top center.",
+    "Activate the compact bell with round base by pressing its top center.",
+    "Direct the right arm to touch the blue dome-shaped bell's top.",
+    "Click the round bell's top center using the right arm.",
+    "Use the right arm to touch the metal bell with plastic parts's top center.",
+    "Click the top center of the bell with brown base on table.",
+    "Click the smooth blue bell at its top center on table.",
+    "Press down the top of the metal bell with plastic parts using the right arm.",
+    "Press the center top of the round bell.",
+    "Click the smooth blue bell's <top center> using the right arm",
+    "Direct the right arm to click the top of the bell with brown base.",
+    "Click using the right arm on the bell with circular body's center.",
+    "Pinpoint the bell with circular body and click its top center.",
+    "Command the right arm to press the bell with circular body's top.",
+    "Guide the right arm to click the metal bell with plastic parts's top center.",
+    "Locate the smooth blue bell and click its top center.",
+    "Tap the metal bell with plastic parts's top center with the right arm.",
+    "Push the bell with brown base's <top center> on the table",
+    "Press the top center of the bell with circular body on table.",
+    "Click the designated center of the small blue and brown bell.",
+    "Press the bell with brown base's top center with the right arm firmly.",
+    "Tap the top center of the blue dome-shaped bell.",
+    "Push the center of the small blue and brown bell using the right arm.",
+    "Ask the right arm to interact with the round bell's top.",
+    "Tap the bell with circular body's top center with the right arm.",
+    "Press the brown-bottomed bell's top center on the table.",
+    "Press down the flat-topped bell's top center gently.",
+    "Press the specified top area of the smooth blue bell.",
+    "Press the center of the flat-topped bell using the right arm.",
+    "Make the right arm interact with the blue bell's top center.",
+    "Use the right arm to press the round bell's top section.",
+    "Have the right arm click at the bell with circular body's top center.",
+    "Activate the blue dome-shaped bell by pressing its top center.",
+    "Direct the right arm to touch the smooth blue bell's top.",
+    "Click the compact bell with round base's top center using the right arm.",
+    "Use the right arm to touch the small blue and brown bell's top center.",
+    "Click the top center of the metal bell with plastic parts on table.",
+    "Click the blue dome-shaped bell at its top center on table.",
+    "Press down the top of the round bell using the right arm.",
+    "Press the center top of the bell with brown base.",
+    "Click the round bell's <top center> using the right arm",
+    "Direct the right arm to click the top of the small blue and brown bell.",
+    "Click using the right arm on the bell with protruding knob's center.",
+    "Pinpoint the metal bell with plastic parts and click its top center.",
+    "Command the right arm to press the compact bell with round base's top.",
+    "Guide the right arm to click the blue bell's top center.",
+    "Locate the round bell and click its top center.",
+    "Tap the metal bell with plastic parts's top center with the right arm.",
+    "Push the metal bell with plastic parts's <top center> on the table",
+    "Press the top center of the brown-bottomed bell on table.",
+    "Click the designated center of the brown-bottomed bell.",
+    "Press the bell with circular body's top center with the right arm firmly."
+  ],
+  "unseen": [
+    "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 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.",
+    "Click the bell with raised round top'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 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 blue bell with glossy finish'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 palm-sized bell.",
+    "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 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.",
+    "Click the top center of the bell with raised round top.",
+    "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 palm-sized bell'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 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 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 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 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 palm-sized bell's top center on the table.",
+    "Click the top center of the bell with raised round top.",
+    "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 palm-sized bell'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.",
+    "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 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 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 bell with raised round top 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.",
+    "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 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 blue bell with glossy finish'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 bell with raised round top.",
+    "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.",
+    "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 bell with raised round top.",
+    "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.",
+    "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 bell with raised round top.",
+    "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.",
+    "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 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 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.",
+    "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."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004050.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004050.json
new file mode 100644
index 0000000000000000000000000000000000000000..7655a2d0768994c859b341e99ef691387e9b139f
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004050.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click using the left arm on the white bell's center.",
+    "Press the center of the white dome bell using the left arm.",
+    "Make the left arm interact with the white bell with black bottom's top center.",
+    "Direct the left arm to click the top of the compact tabletop bell.",
+    "Activate the rounded bell with flat black part by pressing its top center.",
+    "Press the plastic and metal bell's top center on the table.",
+    "Press down the plastic and metal bell's top center gently.",
+    "Press the bell with metallic top and plastic base's top center with the left arm firmly.",
+    "Direct the left arm to touch the white bell's top.",
+    "Locate the bell with black flat base and click its top center.",
+    "Use the left arm to press the white bell with black bottom's top section.",
+    "Press the top center of the bell shaped like half-circle dome on table.",
+    "Push the plastic and metal bell's <top center> on the table",
+    "Guide the left arm to click the bell with black flat base's top center.",
+    "Click the white and black colored bell at its top center on table.",
+    "Press down the top of the bell shaped like half-circle dome using the left arm.",
+    "Ask the left arm to interact with the bell with black flat base's top.",
+    "Use the left arm to touch the small desk bell for tapping's top center.",
+    "Pinpoint the white dome bell and click its top center.",
+    "Have the left arm click at the small desk bell for tapping's top center.",
+    "Command the left arm to press the white bell's top.",
+    "Push the center of the bell with metallic top and plastic base using the left arm.",
+    "Tap the top center of the rounded bell with flat black part.",
+    "Press the specified top area of the white dome bell.",
+    "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.",
+    "Tap the bell shaped like half-circle dome's top center with the left arm.",
+    "Press the center top of the white dome bell.",
+    "Click the designated center of the bell with black flat base.",
+    "Click the rounded bell with flat black part's <top center> using the left arm",
+    "Click the top center of the white bell with black bottom on table.",
+    "Click using the left arm on the small desk bell for tapping's center.",
+    "Press the center of the white and black colored bell using the left arm.",
+    "Make the left arm interact with the bell shaped like half-circle dome's top center.",
+    "Direct the left arm to click the top of the compact tabletop bell.",
+    "Activate the simple hand bell with black stand by pressing its top center.",
+    "Press the white and black colored bell's top center on the table.",
+    "Press down the white bell's top center gently.",
+    "Press the white dome bell's top center with the left arm firmly.",
+    "Direct the left arm to touch the white bell's top.",
+    "Locate the white bell and click its top center.",
+    "Use the left arm to press the white bell's top section.",
+    "Press the top center of the plastic and metal bell on table.",
+    "Push the rounded bell with flat black part's <top center> on the table",
+    "Guide the left arm to click the plastic and metal bell's top center.",
+    "Click the bell with metallic top and plastic base at its top center on table.",
+    "Press down the top of the small desk bell for tapping using the left arm.",
+    "Ask the left arm to interact with the rounded bell with flat black part's top.",
+    "Use the left arm to touch the compact tabletop bell's top center.",
+    "Pinpoint the white bell and click its top center.",
+    "Have the left arm click at the white bell with black bottom's top center.",
+    "Command the left arm to press the white dome bell's top.",
+    "Push the center of the white bell with black bottom using the left arm.",
+    "Tap the top center of the compact tabletop bell.",
+    "Press the specified top area of the white bell.",
+    "Click the plastic and metal bell's top center using the left arm.",
+    "Tap the white dome bell's top center with the left arm.",
+    "Tap the plastic and metal bell's top center with the left arm.",
+    "Press the center top of the white bell.",
+    "Click the designated center of the white bell with black bottom.",
+    "Click the bell with black flat base's <top center> using the left arm",
+    "Click the top center of the bell shaped like half-circle dome on table.",
+    "Click using the left arm on the white bell's center.",
+    "Press the center of the bell with metallic top and plastic base using the left arm.",
+    "Make the left arm interact with the bell with black flat base's top center.",
+    "Direct the left arm to click the top of the white dome bell.",
+    "Activate the compact tabletop bell by pressing its top center.",
+    "Press the white dome bell's top center on the table.",
+    "Press down the compact tabletop bell's top center gently.",
+    "Press the white dome bell's top center with the left arm firmly.",
+    "Direct the left arm to touch the white bell with black bottom's top.",
+    "Locate the bell with metallic top and plastic base and click its top center.",
+    "Use the left arm to press the plastic and metal bell's top section.",
+    "Press the top center of the rounded bell with flat black part on table.",
+    "Push the white dome bell's <top center> on the table",
+    "Guide the left arm to click the white and black colored bell's top center.",
+    "Click the small desk bell for tapping at its top center on table.",
+    "Press down the top of the simple hand bell with black stand using the left arm.",
+    "Ask the left arm to interact with the white dome bell's top.",
+    "Use the left arm to touch the simple hand bell with black stand's top center.",
+    "Pinpoint the white bell with black bottom and click its top center.",
+    "Have the left arm click at the compact tabletop bell's top center.",
+    "Command the left arm to press the white and black colored bell's top.",
+    "Push the center of the bell shaped like half-circle dome using the left arm.",
+    "Tap the top center of the small desk bell for tapping.",
+    "Press the specified top area of the rounded bell with flat black part.",
+    "Click the white bell with black bottom's top center using the left arm.",
+    "Tap the small desk bell for tapping's top center with the left arm.",
+    "Tap the rounded bell with flat black part's top center with the left arm.",
+    "Press the center top of the rounded bell with flat black part.",
+    "Click the designated center of the bell shaped like half-circle dome.",
+    "Click the rounded bell with flat black part's <top center> using the left arm",
+    "Click the top center of the simple hand bell with black stand on table.",
+    "Click using the left arm on the compact tabletop bell's center.",
+    "Press the center of the white dome bell using the left arm.",
+    "Make the left arm interact with the rounded bell with flat black part's top center.",
+    "Direct the left arm to click the top of the compact tabletop bell.",
+    "Activate the small desk bell for tapping by pressing its top center.",
+    "Press the white and black colored bell's top center on the table.",
+    "Press down the compact tabletop bell's top center gently."
+  ],
+  "unseen": [
+    "Click the top center of the smooth metal 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.",
+    "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 smooth metal 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 medium-sized bell's top center on the table.",
+    "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.",
+    "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.",
+    "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.",
+    "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 medium-sized bell's top center on the table.",
+    "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.",
+    "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 lightweight bell with smooth surface's top center on the table.",
+    "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.",
+    "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 medium-sized bell.",
+    "Click the medium-sized bell's top center on the table.",
+    "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.",
+    "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 smooth metal bell's top center on the table.",
+    "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.",
+    "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 smooth metal bell.",
+    "Click the smooth metal bell's top center on the table.",
+    "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.",
+    "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 lightweight bell with smooth surface's top center on the table.",
+    "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.",
+    "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 medium-sized bell's top center on the table.",
+    "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.",
+    "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 lightweight bell with smooth surface's top center on the table.",
+    "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.",
+    "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 smooth metal bell.",
+    "Click the smooth metal bell's top center on the table.",
+    "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.",
+    "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 lightweight bell with smooth surface's top center on the table.",
+    "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.",
+    "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 lightweight bell with smooth surface's top center on the table.",
+    "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.",
+    "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 smooth metal bell.",
+    "Click the lightweight bell with smooth surface's top center on the table."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004054.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004054.json
new file mode 100644
index 0000000000000000000000000000000000000000..aba5c1aca363b9a07fa8df883c5e59d4d5041bcb
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004054.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the top center of the bell shaped like half-circle dome on table.",
+    "Tap the top center of the small desk bell for tapping.",
+    "Press the top center of the white and black colored bell on table.",
+    "Activate the white dome bell by pressing its top center.",
+    "Push the white bell with black bottom's <top center> on the table",
+    "Press down the rounded bell with flat black part's top center gently.",
+    "Direct the left arm to touch the white bell's top.",
+    "Locate the bell with metallic top and plastic base and click its top center.",
+    "Press the compact tabletop bell's top center with the left arm firmly.",
+    "Press down the top of the bell with black flat base using the left arm.",
+    "Click the white dome bell's <top center> using the left arm",
+    "Direct the left arm to click the top of the plastic and metal bell.",
+    "Press the center top of the rounded bell with flat black part.",
+    "Tap the compact tabletop bell's top center with the left arm.",
+    "Use the left arm to touch the compact tabletop bell's top center.",
+    "Press the center of the rounded bell with flat black part using the left arm.",
+    "Make the left arm interact with the bell shaped like half-circle dome's top center.",
+    "Press the small desk bell for tapping's top center on the table.",
+    "Pinpoint the simple hand bell with black stand and click its top center.",
+    "Tap the white bell with black bottom's top center with the left arm.",
+    "Have the left arm click at the bell with metallic top and plastic base's top center.",
+    "Push the center of the rounded bell with flat black part using the left arm.",
+    "Click the small desk bell for tapping at its top center on table.",
+    "Command the left arm to press the white and black colored bell's top.",
+    "Click the plastic and metal bell's top center using the left arm.",
+    "Use the left arm to press the white dome bell's top section.",
+    "Click the designated center of the plastic and metal bell.",
+    "Press the specified top area of the rounded bell with flat black part.",
+    "Click using the left arm on the compact tabletop bell's center.",
+    "Ask the left arm to interact with the white bell's top.",
+    "Guide the left arm to click the small desk bell for tapping's top center.",
+    "Click the top center of the bell with black flat base on table.",
+    "Tap the top center of the white bell with black bottom.",
+    "Press the top center of the white bell with black bottom on table.",
+    "Activate the plastic and metal bell by pressing its top center.",
+    "Push the bell shaped like half-circle dome's <top center> on the table",
+    "Press down the white bell's top center gently.",
+    "Direct the left arm to touch the small desk bell for tapping's top.",
+    "Locate the white and black colored bell and click its top center.",
+    "Press the simple hand bell with black stand's top center with the left arm firmly.",
+    "Press down the top of the white dome bell using the left arm.",
+    "Click the bell with metallic top and plastic base's <top center> using the left arm",
+    "Direct the left arm to click the top of the plastic and metal bell.",
+    "Press the center top of the white bell.",
+    "Tap the white dome bell's top center with the left arm.",
+    "Use the left arm to touch the bell shaped like half-circle dome's top center.",
+    "Press the center of the bell with metallic top and plastic base using the left arm.",
+    "Make the left arm interact with the small desk bell for tapping's top center.",
+    "Press the plastic and metal bell's top center on the table.",
+    "Pinpoint the white dome bell and click its top center.",
+    "Tap the plastic and metal bell's top center with the left arm.",
+    "Have the left arm click at the simple hand bell with black stand's top center.",
+    "Push the center of the white bell using the left arm.",
+    "Click the compact tabletop bell at its top center on table.",
+    "Command the left arm to press the white bell with black bottom's top.",
+    "Click the white and black colored bell's top center using the left arm.",
+    "Use the left arm to press the white bell with black bottom's top section.",
+    "Click the designated center of the bell with black flat base.",
+    "Press the specified top area of the bell shaped like half-circle dome.",
+    "Click using the left arm on the small desk bell for tapping's center.",
+    "Ask the left arm to interact with the simple hand bell with black stand's top.",
+    "Guide the left arm to click the white bell's top center.",
+    "Click the top center of the simple hand bell with black stand on table.",
+    "Tap the top center of the rounded bell with flat black part.",
+    "Press the top center of the rounded bell with flat black part on table.",
+    "Activate the white and black colored bell by pressing its top center.",
+    "Push the compact tabletop bell's <top center> on the table",
+    "Press down the compact tabletop bell's top center gently.",
+    "Direct the left arm to touch the simple hand bell with black stand's top.",
+    "Locate the rounded bell with flat black part and click its top center.",
+    "Press the white bell with black bottom's top center with the left arm firmly.",
+    "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",
+    "Direct the left arm to click the top of the compact tabletop bell.",
+    "Press the center top of the white bell.",
+    "Tap the bell with metallic top and plastic base's top center with the left arm.",
+    "Use the left arm to touch the bell with metallic top and plastic base's top center.",
+    "Press the center of the bell with black flat base using the left arm.",
+    "Make the left arm interact with the bell with metallic top and plastic base's top center.",
+    "Press the white and black colored bell's top center on the table.",
+    "Pinpoint the white and black colored bell and click its top center.",
+    "Tap the compact tabletop bell's top center with the left arm.",
+    "Have the left arm click at the compact tabletop bell's top center.",
+    "Push the center of the plastic and metal bell using the left arm.",
+    "Click the simple hand bell with black stand at its top center on table.",
+    "Command the left arm to press the small desk bell for tapping's top.",
+    "Click the bell with metallic top and plastic base's top center using the left arm.",
+    "Use the left arm to press the white dome bell's top section.",
+    "Click the designated center of the white bell.",
+    "Press the specified top area of the white bell with black bottom.",
+    "Click using the left arm on the plastic and metal bell's center.",
+    "Ask the left arm to interact with the bell with black flat base's top.",
+    "Guide the left arm to click the rounded bell with flat black part's top center.",
+    "Click the top center of the simple hand bell with black stand on table.",
+    "Tap the top center of the white bell with black bottom.",
+    "Press the top center of the simple hand bell with black stand on table.",
+    "Activate the plastic and metal bell by pressing its top center.",
+    "Push the small desk bell for tapping's <top center> on the table",
+    "Press down the rounded bell with flat black part's top center gently.",
+    "Direct the left arm to touch the white dome bell's top."
+  ],
+  "unseen": [
+    "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 medium-sized bell's top center on the table.",
+    "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 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.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the medium-sized bell's top center on the table.",
+    "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 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 smooth metal 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.",
+    "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 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.",
+    "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.",
+    "Find the medium-sized bell and click its 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.",
+    "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 smooth metal bell's top center on the table.",
+    "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 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 lightweight bell with smooth surface'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.",
+    "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 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 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.",
+    "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 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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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 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 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.",
+    "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 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.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "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 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 smooth metal 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.",
+    "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 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 smooth metal bell'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.",
+    "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 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.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "Click the smooth metal bell's top center on the table.",
+    "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 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.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004070.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004070.json
new file mode 100644
index 0000000000000000000000000000000000000000..27251b3901addca8134706642b72e324f45e51d6
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004070.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the center top of the white dome bell.",
+    "Press the white and black colored bell's top center with the left arm firmly.",
+    "Have the left arm click at the white and black colored bell's top center.",
+    "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 bell with black bottom's center.",
+    "Tap the white and black colored bell's top center with the left arm.",
+    "Activate the compact tabletop bell by pressing its top center.",
+    "Direct the left arm to click the top of the white bell with black bottom.",
+    "Press the specified top area of the white bell.",
+    "Press the center of the compact tabletop bell using the left arm.",
+    "Direct the left arm to touch the white bell with black bottom's top.",
+    "Click the top center of the white bell on table.",
+    "Use the left arm to touch the white bell's top center.",
+    "Click the compact tabletop bell's top center using the left arm.",
+    "Press down the white and black colored bell's top center gently.",
+    "Push the center of the simple hand bell with black stand using the left arm.",
+    "Command the left arm to press the white bell with black bottom's top.",
+    "Locate the simple hand bell with black stand and click its top center.",
+    "Tap the rounded bell with flat black part's top center with the left arm.",
+    "Push the bell with black flat base's <top center> on the table",
+    "Pinpoint the simple hand bell with black stand and click its top center.",
+    "Press down the top of the white and black colored bell using the left arm.",
+    "Press the white bell with black bottom's top center on the table.",
+    "Click the compact tabletop bell's <top center> using the left arm",
+    "Click the white and black colored bell at its top center on table.",
+    "Guide the left arm to click the white bell with black bottom's top center.",
+    "Use the left arm to press the white dome bell's top section.",
+    "Tap the top center of the rounded bell with flat black part.",
+    "Make the left arm interact with the simple hand bell with black stand's top center.",
+    "Click the designated center of the compact tabletop bell.",
+    "Press the top center of the white and black colored bell on table.",
+    "Press the center top of the white bell.",
+    "Press the simple hand bell with black stand's top center with the left arm firmly.",
+    "Have the left arm click at the simple hand bell with black stand's top center.",
+    "Ask the left arm to interact with the compact tabletop bell's top.",
+    "Click using the left arm on the white bell with black bottom's center.",
+    "Tap the small desk bell for tapping's top center with the left arm.",
+    "Activate the white dome bell by pressing its top center.",
+    "Direct the left arm to click the top of the bell shaped like half-circle dome.",
+    "Press the specified top area of the compact tabletop bell.",
+    "Press 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.",
+    "Click the top center of the white bell on table.",
+    "Use the left arm to touch the white dome bell's top center.",
+    "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.",
+    "Push the center of the bell with metallic top and plastic base using the left arm.",
+    "Command the left arm to press the bell with black flat base's top.",
+    "Locate the white and black colored bell and click its top center.",
+    "Tap the bell with black flat base's top center with the left arm.",
+    "Push the white dome bell's <top center> on the table",
+    "Pinpoint the white bell and click its top center.",
+    "Press down the top of the white dome bell using the left arm.",
+    "Press the rounded bell with flat black part's top center on the table.",
+    "Click the plastic and metal bell's <top center> using the left arm",
+    "Click the white and black colored bell at its top center on table.",
+    "Guide the left arm to click the bell shaped like half-circle dome's top center.",
+    "Use the left arm to press the compact tabletop bell's top section.",
+    "Tap the top center of the compact tabletop bell.",
+    "Make the left arm interact with the bell with black flat base's top center.",
+    "Click the designated center of the rounded bell with flat black part.",
+    "Press the top center of the bell with metallic top and plastic base on table.",
+    "Press the center top of the small desk bell for tapping.",
+    "Press the white and black colored bell's top center with the left arm firmly.",
+    "Have the left arm click at the white bell's top center.",
+    "Ask the left arm to interact with the simple hand bell with black stand's top.",
+    "Click using the left arm on the plastic and metal bell's center.",
+    "Tap the plastic and metal bell's top center with the left arm.",
+    "Activate the plastic and metal bell by pressing its top center.",
+    "Direct the left 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.",
+    "Press the center of the small desk bell for tapping using the left arm.",
+    "Direct the left arm to touch the simple hand bell with black stand's top.",
+    "Click the top center of the white bell on table.",
+    "Use the left arm to touch the small desk bell for tapping's top center.",
+    "Click the bell with metallic top and plastic base's top center using the left arm.",
+    "Press down the bell shaped like half-circle dome's top center gently.",
+    "Push the center of the simple hand bell with black stand using the left arm.",
+    "Command the left arm to press the white dome bell's top.",
+    "Locate the bell with black flat base and click its top center.",
+    "Tap the simple hand bell with black stand's top center with the left arm.",
+    "Push the compact tabletop bell's <top center> on the table",
+    "Pinpoint the white dome bell and click its top center.",
+    "Press down the top of the bell with black flat base using the left arm.",
+    "Press the compact tabletop bell's top center on the table.",
+    "Click the white bell with black bottom's <top center> using the left arm",
+    "Click the white dome bell at its top center on table.",
+    "Guide the left arm to click the white bell with black bottom's top center.",
+    "Use the left arm to press the plastic and metal bell's top section.",
+    "Tap the top center of the rounded bell with flat black part.",
+    "Make the left arm interact with the compact tabletop bell's top center.",
+    "Click the designated center of the white bell.",
+    "Press the top center of the white dome bell on table.",
+    "Press the center top of the bell with black flat base.",
+    "Press the white bell's top center with the left arm firmly.",
+    "Have the left arm click at the white bell with black bottom's top center.",
+    "Ask the left arm to interact with the white dome bell's top.",
+    "Click using the left arm on the compact tabletop bell's center.",
+    "Tap the simple hand bell with black stand's top center with the left arm.",
+    "Activate the bell with black flat base by pressing its top center."
+  ],
+  "unseen": [
+    "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.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "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.",
+    "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 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 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.",
+    "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 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.",
+    "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 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.",
+    "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 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 smooth metal bell's top.",
+    "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.",
+    "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 smooth metal bell's top.",
+    "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 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.",
+    "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.",
+    "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 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.",
+    "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 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.",
+    "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.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "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.",
+    "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 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 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 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.",
+    "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 lightweight bell with smooth surface's top.",
+    "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 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.",
+    "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.",
+    "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 smooth metal bell and click its top center.",
+    "Use the left arm to press the lightweight bell with smooth surface's top center."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004080.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004080.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b4ec9034d408334ae25aee1fc5dcc2d73bef321
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004080.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the center of the compact bell with round base using the left arm.",
+    "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.",
+    "Ask the left arm to interact with the blue dome-shaped bell's top.",
+    "Press down the flat-topped bell's top center gently.",
+    "Press the top center of the blue dome-shaped bell on table.",
+    "Use the left arm to touch the round bell's top center.",
+    "Click the blue dome-shaped bell at its top center on table.",
+    "Click using the left arm on the blue dome-shaped bell's center.",
+    "Activate the brown-bottomed bell by pressing its top center.",
+    "Tap the top center of the smooth blue bell.",
+    "Direct the left arm to touch the blue dome-shaped bell's top.",
+    "Make the left arm interact with the metal bell with plastic parts's top center.",
+    "Push the center of the smooth blue bell using the left arm.",
+    "Press the specified top area of the flat-topped bell.",
+    "Press the center top of the smooth blue bell.",
+    "Guide the left arm to click the bell with circular body's top center.",
+    "Direct the left arm to click the top of the blue dome-shaped bell.",
+    "Click the metal bell with plastic parts's <top center> using the left arm",
+    "Press the blue bell's top center with the left arm firmly.",
+    "Click the metal bell with plastic parts's top center using the left arm.",
+    "Use the left arm to press the bell with brown base's top section.",
+    "Press down the top of the smooth blue bell using the left arm.",
+    "Pinpoint the metal bell with plastic parts and click its top center.",
+    "Click the designated center of the bell with circular body.",
+    "Press the bell with protruding knob's top center on the table.",
+    "Click the top center of the round bell on table.",
+    "Tap the blue dome-shaped bell's top center with the left arm.",
+    "Push the metal bell with plastic parts's <top center> on the table",
+    "Tap the round bell's top center with the left arm.",
+    "Locate the bell with brown base and click its top center.",
+    "Press the center of the bell with brown base using the left arm.",
+    "Command the left arm to press the bell with brown base's top.",
+    "Have the left arm click at the smooth blue bell's top center.",
+    "Ask the left arm to interact with the blue bell's top.",
+    "Press down the bell with protruding knob's top center gently.",
+    "Press the top center of the bell with circular body on table.",
+    "Use the left arm to touch the brown-bottomed bell's top center.",
+    "Click the compact bell with round base at its top center on table.",
+    "Click using the left arm on the smooth blue bell's center.",
+    "Activate the small blue and brown bell by pressing its top center.",
+    "Tap the top center of the brown-bottomed bell.",
+    "Direct the left arm to touch the small blue and brown bell's top.",
+    "Make the left arm interact with the flat-topped bell's top center.",
+    "Push the center of the flat-topped bell using the left arm.",
+    "Press the specified top area of the bell with brown base.",
+    "Press the center top of the blue bell.",
+    "Guide the left arm to click the brown-bottomed bell's top center.",
+    "Direct the left arm to click the top of the brown-bottomed bell.",
+    "Click the small blue and brown bell's <top center> using the left arm",
+    "Press the flat-topped bell's top center with the left arm firmly.",
+    "Click the blue bell's top center using the left arm.",
+    "Use the left arm to press the blue bell's top section.",
+    "Press down the top of the bell with protruding knob using the left arm.",
+    "Pinpoint the bell with brown base and click its top center.",
+    "Click the designated center of the compact bell with round base.",
+    "Press the bell with circular body's top center on the table.",
+    "Click the top center of the compact bell with round base on table.",
+    "Tap the metal bell with plastic parts's top center with the left arm.",
+    "Push the bell with brown base's <top center> on the table",
+    "Tap the round bell's top center with the left arm.",
+    "Locate the blue dome-shaped bell and click its top center.",
+    "Press the center of the bell with protruding knob using the left arm.",
+    "Command the left arm to press the bell with circular body's top.",
+    "Have the left arm click at the brown-bottomed bell's top center.",
+    "Ask the left arm to interact with the metal bell with plastic parts's top.",
+    "Press down the flat-topped bell's top center gently.",
+    "Press the top center of the blue dome-shaped bell on table.",
+    "Use the left arm to touch the bell with protruding knob's top center.",
+    "Click the bell with circular body at its top center on table.",
+    "Click using the left arm on the bell with brown base's center.",
+    "Activate the compact bell with round base by pressing its top center.",
+    "Tap the top center of the compact bell with round base.",
+    "Direct the left arm to touch the bell with protruding knob's top.",
+    "Make the left arm interact with the round bell's top center.",
+    "Push the center of the small blue and brown bell using the left arm.",
+    "Press the specified top area of the blue bell.",
+    "Press the center top of the blue dome-shaped bell.",
+    "Guide the left arm to click the bell with circular body's top center.",
+    "Direct the left arm to click the top of the flat-topped bell.",
+    "Click the blue bell's <top center> using the left arm",
+    "Press the bell with circular body's top center with the left arm firmly.",
+    "Click the bell with brown base's top center using the left arm.",
+    "Use the left arm to press the metal bell with plastic parts's top section.",
+    "Press down the top of the blue bell using the left arm.",
+    "Pinpoint the smooth blue bell and click its top center.",
+    "Click the designated center of the compact bell with round base.",
+    "Press the smooth blue bell's top center on the table.",
+    "Click the top center of the flat-topped bell on table.",
+    "Tap the bell with protruding knob's top center with the left arm.",
+    "Push the bell with circular body's <top center> on the table",
+    "Tap the blue bell's top center with the left arm.",
+    "Locate the bell with brown base and click its top center.",
+    "Press the center of the bell with circular body using the left arm.",
+    "Command the left arm to press the flat-topped bell's top.",
+    "Have the left arm click at the metal bell with plastic parts's top center.",
+    "Ask the left arm to interact with the metal bell with plastic parts's top.",
+    "Press down the brown-bottomed bell's top center gently.",
+    "Press the top center of the brown-bottomed bell on table.",
+    "Use the left arm to touch the small blue and brown bell's top center."
+  ],
+  "unseen": [
+    "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 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.",
+    "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 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.",
+    "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 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.",
+    "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 blue bell with glossy finish.",
+    "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 palm-sized bell'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.",
+    "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.",
+    "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 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 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.",
+    "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.",
+    "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 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 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 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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 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.",
+    "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 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 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 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 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.",
+    "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 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 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 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 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 bell with raised round top's top center."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004086.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004086.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cb9114ead2f9228f6e5587ff10abfbd9d59704c
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004086.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the bell with protruding knob's <top center> on the table",
+    "Click using the left arm on the smooth blue bell's center.",
+    "Direct the left arm to touch the smooth blue bell's top.",
+    "Use the left arm to touch the small blue and brown bell's top center.",
+    "Activate the bell with brown base by pressing its top center.",
+    "Press the blue dome-shaped bell's top center on the table.",
+    "Locate the bell with protruding knob and click its top center.",
+    "Press the center of the bell with brown base using the left arm.",
+    "Click the top center of the bell with circular body on table.",
+    "Push the center of the bell with protruding knob using the left arm.",
+    "Press the specified top area of the smooth blue bell.",
+    "Make the left arm interact with the flat-topped bell's top center.",
+    "Press down the brown-bottomed bell's top center gently.",
+    "Ask the left arm to interact with the blue bell's top.",
+    "Click the designated center of the small blue and brown bell.",
+    "Press the top center of the small blue and brown bell on table.",
+    "Press the center top of the flat-topped bell.",
+    "Pinpoint the bell with protruding knob and click its top center.",
+    "Tap the top center of the bell with protruding knob.",
+    "Click the metal bell with plastic parts's top center using the left arm.",
+    "Guide the left arm to click the smooth blue bell's top center.",
+    "Direct the left arm to click the top of the compact bell with round base.",
+    "Press down the top of the smooth blue bell using the left arm.",
+    "Click the blue bell's <top center> using the left arm",
+    "Command the left arm to press the flat-topped bell's top.",
+    "Click the blue bell at its top center on table.",
+    "Have the left arm click at the flat-topped bell's top center.",
+    "Tap the bell with circular body's top center with the left arm.",
+    "Use the left arm to press the bell with protruding knob's top section.",
+    "Tap the smooth blue bell's top center with the left arm.",
+    "Press the bell with brown base's top center with the left arm firmly.",
+    "Push the compact bell with round base's <top center> on the table",
+    "Click using the left arm on the bell with brown base's center.",
+    "Direct the left arm to touch the compact bell with round base's top.",
+    "Use the left arm to touch the bell with brown base's top center.",
+    "Activate the small blue and brown bell by pressing its top center.",
+    "Press the metal bell with plastic parts's top center on the table.",
+    "Locate the metal bell with plastic parts and click its top center.",
+    "Press the center of the blue dome-shaped bell using the left arm.",
+    "Click the top center of the bell with circular body on table.",
+    "Push the center of the blue bell using the left arm.",
+    "Press the specified top area of the small blue and brown bell.",
+    "Make the left arm interact with the metal bell with plastic parts's top center.",
+    "Press down the compact bell with round base's top center gently.",
+    "Ask the left arm to interact with the bell with circular body's top.",
+    "Click the designated center of the smooth blue bell.",
+    "Press the top center of the bell with protruding knob on table.",
+    "Press the center top of the bell with brown base.",
+    "Pinpoint the bell with protruding knob and click its top center.",
+    "Tap the top center of the round bell.",
+    "Click the smooth blue bell's top center using the left arm.",
+    "Guide the left arm to click the metal bell with plastic parts's top center.",
+    "Direct the left arm to click the top of the blue bell.",
+    "Press down the top of the smooth blue bell using the left arm.",
+    "Click the blue bell's <top center> using the left arm",
+    "Command the left arm to press the bell with protruding knob's top.",
+    "Click the small blue and brown bell at its top center on table.",
+    "Have the left arm click at the small blue and brown bell's top center.",
+    "Tap the brown-bottomed bell's top center with the left arm.",
+    "Use the left arm to press the round bell's top section.",
+    "Tap the smooth blue bell's top center with the left arm.",
+    "Press the compact bell with round base's top center with the left arm firmly.",
+    "Push the metal bell with plastic parts's <top center> on the table",
+    "Click using the left arm on the smooth blue bell's center.",
+    "Direct the left arm to touch the brown-bottomed bell's top.",
+    "Use the left arm to touch the small blue and brown bell's top center.",
+    "Activate the small blue and brown bell by pressing its top center.",
+    "Press the bell with circular body's top center on the table.",
+    "Locate the blue bell and click its top center.",
+    "Press the center of the bell with protruding knob using the left arm.",
+    "Click the top center of the round bell on table.",
+    "Push the center of the brown-bottomed bell using the left arm.",
+    "Press the specified top area of the blue bell.",
+    "Make the left arm interact with the round bell's top center.",
+    "Press down the metal bell with plastic parts's top center gently.",
+    "Ask the left arm to interact with the blue dome-shaped bell's top.",
+    "Click the designated center of the small blue and brown bell.",
+    "Press the top center of the compact bell with round base on table.",
+    "Press the center top of the round bell.",
+    "Pinpoint the smooth blue bell and click its top center.",
+    "Tap the top center of the round bell.",
+    "Click the blue bell's top center using the left arm.",
+    "Guide the left arm to click the smooth blue bell's top center.",
+    "Direct the left arm to click the top of the round bell.",
+    "Press down the top of the compact bell with round base using the left arm.",
+    "Click the bell with protruding knob's <top center> using the left arm",
+    "Command the left arm to press the bell with protruding knob's top.",
+    "Click the bell with brown base at its top center on table.",
+    "Have the left arm click at the compact bell with round base's top center.",
+    "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.",
+    "Tap the small blue and brown bell's top center with the left arm.",
+    "Press the small blue and brown bell's top center with the left arm firmly.",
+    "Push the flat-topped bell's <top center> on the table",
+    "Click using the left arm on the flat-topped bell's center.",
+    "Direct the left arm to touch the brown-bottomed bell's top.",
+    "Use the left arm to touch the bell with circular body's top center.",
+    "Activate the bell with circular body by pressing its top center.",
+    "Press the blue dome-shaped bell's top center on the table.",
+    "Locate the smooth blue bell and click its top center."
+  ],
+  "unseen": [
+    "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.",
+    "Click the top center of the palm-sized bell.",
+    "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.",
+    "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 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 palm-sized bell.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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 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 bell with raised round top.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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 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.",
+    "Click the top center of the palm-sized bell.",
+    "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.",
+    "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 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 bell with raised round top.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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 palm-sized bell'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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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 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 bell with raised round top.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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 palm-sized bell's top center on the table.",
+    "Use the left arm to press the blue bell with glossy finish's top center."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004134.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004134.json
new file mode 100644
index 0000000000000000000000000000000000000000..15bca5649f7d091f9e25d5844e0579b53ad4e90c
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004134.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the bell with black flat base's <top center> on the table",
+    "Tap the top center of the white bell.",
+    "Press down the bell shaped like half-circle dome's top center gently.",
+    "Click using the right arm on the white and black colored bell's center.",
+    "Press the center top of the rounded bell with flat black part.",
+    "Ask the right arm to interact with the small desk bell for tapping's top.",
+    "Click the small desk bell for tapping at its top center on table.",
+    "Use the right arm to press the white and black colored bell's top section.",
+    "Click the white and black colored bell's <top center> using the right arm",
+    "Press down the top of the white dome bell using the right arm.",
+    "Direct the right arm to touch the bell with black flat base's top.",
+    "Activate the white and black colored bell by pressing its top center.",
+    "Have the right arm click at the small desk bell for tapping's top center.",
+    "Click the bell shaped like half-circle dome's top center using the right arm.",
+    "Press the simple hand bell with black stand's top center on the table.",
+    "Press the compact tabletop bell's top center with the right arm firmly.",
+    "Press the top center of the white bell with black bottom on table.",
+    "Tap the small desk bell for tapping's top center with the right arm.",
+    "Use the right arm to touch the simple hand bell with black stand's top center.",
+    "Click the top center of the white bell on table.",
+    "Press the center of the bell shaped like half-circle dome using the right arm.",
+    "Pinpoint the white dome bell and click its top center.",
+    "Push the center of the white and black colored bell using the right arm.",
+    "Direct the right arm to click the top of the white and black colored bell.",
+    "Press the specified top area of the plastic and metal bell.",
+    "Locate the compact tabletop bell and click its top center.",
+    "Command the right arm to press the simple hand bell with black stand's top.",
+    "Guide the right arm to click the rounded bell with flat black part's top center.",
+    "Click the designated center of the simple hand bell with black stand.",
+    "Tap the simple hand bell with black stand's top center with the right arm.",
+    "Make the right arm interact with the white and black colored bell's top center.",
+    "Push the white and black colored bell's <top center> on the table",
+    "Tap the top center of the bell with metallic top and plastic base.",
+    "Press down the compact tabletop bell's top center gently.",
+    "Click using the right arm on the plastic and metal bell's center.",
+    "Press the center top of the plastic and metal bell.",
+    "Ask the right arm to interact with the bell with black flat base's top.",
+    "Click the white bell with black bottom at its top center on table.",
+    "Use the right arm to press the white and black colored bell's top section.",
+    "Click the rounded bell with flat black part's <top center> using the right arm",
+    "Press down the top of the small desk bell for tapping using the right arm.",
+    "Direct the right arm to touch the bell shaped like half-circle dome's top.",
+    "Activate the small desk bell for tapping by pressing its top center.",
+    "Have the right arm click at the white bell with black bottom's top center.",
+    "Click the rounded bell with flat black part's top center using the right arm.",
+    "Press the bell with black flat base's top center on the table.",
+    "Press the bell with metallic top and plastic base's top center with the right arm firmly.",
+    "Press the top center of the rounded bell with flat black part on table.",
+    "Tap the white and black colored bell's top center with the right arm.",
+    "Use the right arm to touch the white and black colored bell's top center.",
+    "Click the top center of the bell with black flat base on table.",
+    "Press the center of the rounded bell with flat black part using the right arm.",
+    "Pinpoint the white and black colored bell and click its top center.",
+    "Push the center of the white bell with black bottom using the right arm.",
+    "Direct the right arm to click the top of the compact tabletop bell.",
+    "Press the specified top area of the rounded bell with flat black part.",
+    "Locate the compact tabletop bell and click its top center.",
+    "Command the right arm to press the rounded bell with flat black part's top.",
+    "Guide the right arm to click the white and black colored bell's top center.",
+    "Click the designated center of the compact tabletop bell.",
+    "Tap the rounded bell with flat black part's top center with the right arm.",
+    "Make the right arm interact with the white dome bell's top center.",
+    "Push the white dome bell's <top center> on the table",
+    "Tap the top center of the plastic and metal bell.",
+    "Press down the bell with metallic top and plastic base's top center gently.",
+    "Click using the right arm on the rounded bell with flat black part's center.",
+    "Press the center top of the rounded bell with flat black part.",
+    "Ask the right arm to interact with the rounded bell with flat black part's top.",
+    "Click the simple hand bell with black stand at its top center on table.",
+    "Use the right arm to press the compact tabletop bell's top section.",
+    "Click the white bell's <top center> using the right arm",
+    "Press down the top of the white dome bell using the right arm.",
+    "Direct the right arm to touch the plastic and metal bell's top.",
+    "Activate the white dome bell by pressing its top center.",
+    "Have the right arm click at the bell shaped like half-circle dome's top center.",
+    "Click the white bell with black bottom's top center using the right arm.",
+    "Press the white and black colored bell's top center on the table.",
+    "Press the plastic and metal bell's top center with the right arm firmly.",
+    "Press the top center of the small desk bell for tapping on table.",
+    "Tap the white bell's top center with the right arm.",
+    "Use the right arm to touch the white bell with black bottom's top center.",
+    "Click the top center of the plastic and metal bell on table.",
+    "Press the center of the simple hand bell with black stand using the right arm.",
+    "Pinpoint the plastic and metal bell and click its top center.",
+    "Push the center of the bell shaped like half-circle dome using the right arm.",
+    "Direct the right arm to click the top of the white and black colored bell.",
+    "Press the specified top area of the rounded bell with flat black part.",
+    "Locate the white and black colored bell and click its top center.",
+    "Command the right arm to press the bell with black flat base's top.",
+    "Guide the right arm to click the white bell's top center.",
+    "Click the designated center of the white dome bell.",
+    "Tap the plastic and metal bell's top center with the right arm.",
+    "Make the right arm interact with the small desk bell for tapping's top center.",
+    "Push the simple hand bell with black stand's <top center> on the table",
+    "Tap the top center of the white dome bell.",
+    "Press down the rounded bell with flat black part's top center gently.",
+    "Click using the right arm on the bell shaped like half-circle dome's center.",
+    "Press the center top of the small desk bell for tapping.",
+    "Ask the right arm to interact with the rounded bell with flat black part's top.",
+    "Click the white dome bell at its top center on table."
+  ],
+  "unseen": [
+    "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.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "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.",
+    "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.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "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.",
+    "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.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "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.",
+    "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 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.",
+    "Click the top center of the medium-sized 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.",
+    "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.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "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.",
+    "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.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "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 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 lightweight bell with smooth surface'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.",
+    "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.",
+    "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 smooth metal bell's top center.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "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.",
+    "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.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "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.",
+    "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.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "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.",
+    "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 smooth metal bell's top center.",
+    "Direct the right arm to click the medium-sized bell's top.",
+    "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.",
+    "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.",
+    "Direct the right arm to click the lightweight bell with smooth surface's top.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "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.",
+    "Click the smooth metal bell's top center on the table.",
+    "Use the right arm to press the medium-sized bell's top center."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004136.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004136.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c9a2aa081d9ea4fed2d02e9b81a2cf0a5a46a0a
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004136.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the specified top area of the round bell.",
+    "Command the left arm to press the compact bell with round base's top.",
+    "Have the left arm click at the blue dome-shaped bell's top center.",
+    "Guide the left arm to click the blue dome-shaped bell's top center.",
+    "Make the left arm interact with the metal bell with plastic parts's top center.",
+    "Push the center of the flat-topped bell using the left arm.",
+    "Use the left arm to press the brown-bottomed bell's top section.",
+    "Press the flat-topped bell's top center on the table.",
+    "Tap the blue bell's top center with the left arm.",
+    "Direct the left arm to click the top of the brown-bottomed bell.",
+    "Ask the left arm to interact with the bell with circular body's top.",
+    "Click using the left arm on the flat-topped bell's center.",
+    "Press the top center of the flat-topped bell on table.",
+    "Click the blue bell's top center using the left arm.",
+    "Press the flat-topped bell's top center with the left arm firmly.",
+    "Click the blue bell at its top center on table.",
+    "Press the center top of the bell with circular body.",
+    "Locate the compact bell with round base and click its top center.",
+    "Tap the blue dome-shaped bell's top center with the left arm.",
+    "Press down the small blue and brown bell's top center gently.",
+    "Click the blue dome-shaped bell's <top center> using the left arm",
+    "Tap the top center of the flat-topped bell.",
+    "Direct the left arm to touch the blue dome-shaped bell's top.",
+    "Press down the top of the small blue and brown bell using the left arm.",
+    "Click the designated center of the smooth blue bell.",
+    "Press the center of the bell with protruding knob using the left arm.",
+    "Activate the bell with brown base by pressing its top center.",
+    "Pinpoint the bell with circular body and click its top center.",
+    "Push the small blue and brown bell's <top center> on the table",
+    "Use the left arm to touch the blue bell's top center.",
+    "Click the top center of the round bell on table.",
+    "Press the specified top area of the blue dome-shaped bell.",
+    "Command the left arm to press the flat-topped bell's top.",
+    "Have the left arm click at the round bell's top center.",
+    "Guide the left arm to click the brown-bottomed bell's top center.",
+    "Make the left arm interact with the blue dome-shaped bell's top center.",
+    "Push the center of the bell with brown base using the left arm.",
+    "Use the left arm to press the blue bell's top section.",
+    "Press the bell with brown base's top center on the table.",
+    "Tap the bell with circular body's top center with the left arm.",
+    "Direct the left arm to click the top of the bell with brown base.",
+    "Ask the left arm to interact with the compact bell with round base's top.",
+    "Click using the left arm on the bell with protruding knob's center.",
+    "Press the top center of the bell with brown base on table.",
+    "Click the bell with brown base's top center using the left arm.",
+    "Press the flat-topped bell's top center with the left arm firmly.",
+    "Click the round bell at its top center on table.",
+    "Press the center top of the smooth blue bell.",
+    "Locate the bell with brown base and click its top center.",
+    "Tap the metal bell with plastic parts's top center with the left arm.",
+    "Press down the blue dome-shaped bell's top center gently.",
+    "Click the metal bell with plastic parts's <top center> using the left arm",
+    "Tap the top center of the brown-bottomed bell.",
+    "Direct the left arm to touch the small blue and brown bell's top.",
+    "Press down the top of the bell with brown base using the left arm.",
+    "Click the designated center of the blue bell.",
+    "Press the center of the flat-topped bell using the left arm.",
+    "Activate the blue dome-shaped bell by pressing its top center.",
+    "Pinpoint the blue bell and click its top center.",
+    "Push the small blue and brown bell's <top center> on the table",
+    "Use the left arm to touch the metal bell with plastic parts's top center.",
+    "Click the top center of the flat-topped bell on table.",
+    "Press the specified top area of the bell with circular body.",
+    "Command the left arm to press the metal bell with plastic parts's top.",
+    "Have the left arm click at the metal bell with plastic parts's top center.",
+    "Guide the left arm to click the blue bell's top center.",
+    "Make the left arm interact with the compact bell with round base's top center.",
+    "Push the center of the flat-topped bell using the left arm.",
+    "Use the left arm to press the bell with brown base's top section.",
+    "Press the brown-bottomed bell's top center on the table.",
+    "Tap the blue bell's top center with the left arm.",
+    "Direct the left arm to click the top of the bell with brown base.",
+    "Ask the left arm to interact with the compact bell with round base's top.",
+    "Click using the left arm on the bell with brown base's center.",
+    "Press the top center of the metal bell with plastic parts on table.",
+    "Click the blue dome-shaped bell's top center using the left arm.",
+    "Press the brown-bottomed bell's top center with the left arm firmly.",
+    "Click the bell with brown base at its top center on table.",
+    "Press the center top of the round bell.",
+    "Locate the small blue and brown bell and click its top center.",
+    "Tap the bell with brown base's top center with the left arm.",
+    "Press down the bell with circular body's top center gently.",
+    "Click the bell with circular body's <top center> using the left arm",
+    "Tap the top center of the flat-topped bell.",
+    "Direct the left arm to touch the bell with brown base's top.",
+    "Press down the top of the brown-bottomed bell using the left arm.",
+    "Click the designated center of the smooth blue bell.",
+    "Press the center of the brown-bottomed bell using the left arm.",
+    "Activate the blue bell by pressing its top center.",
+    "Pinpoint the bell with protruding knob and click its top center.",
+    "Push the metal bell with plastic parts's <top center> on the table",
+    "Use the left arm to touch the brown-bottomed bell's top center.",
+    "Click the top center of the brown-bottomed bell on table.",
+    "Press the specified top area of the brown-bottomed bell.",
+    "Command the left arm to press the brown-bottomed bell's top.",
+    "Have the left arm click at the bell with brown base's top center.",
+    "Guide the left arm to click the flat-topped bell's top center.",
+    "Make the left arm interact with the compact bell with round base's top center.",
+    "Push the center of the bell with protruding knob using the left arm.",
+    "Use the left arm to press the compact bell with round base's top section."
+  ],
+  "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.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "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.",
+    "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.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "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 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.",
+    "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 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.",
+    "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.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "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.",
+    "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.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "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.",
+    "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 palm-sized bell'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.",
+    "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 palm-sized bell 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.",
+    "Direct the left arm to click the bell with raised round top's top.",
+    "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 palm-sized bell'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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "Direct the left arm to click the palm-sized bell's top.",
+    "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.",
+    "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 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 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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "Direct the left arm to click the blue bell with glossy finish's top.",
+    "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.",
+    "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 palm-sized bell'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.",
+    "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.",
+    "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."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004147.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004147.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b1ab7d949afc735c934a09edd7fa2409cb4cca5
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10004147.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the smooth blue bell's top center on the table.",
+    "Press the center top of the brown-bottomed bell.",
+    "Locate the flat-topped bell and click its top center.",
+    "Click the small blue and brown bell's <top center> using the left arm",
+    "Direct the left arm to click the top of the round bell.",
+    "Direct the left arm to touch the brown-bottomed bell's top.",
+    "Have the left arm click at the bell with brown base's top center.",
+    "Click the designated center of the smooth blue bell.",
+    "Tap the bell with brown base's top center with the left arm.",
+    "Push the center of the smooth blue bell using the left arm.",
+    "Command the left arm to press the metal bell with plastic parts's top.",
+    "Click using the left arm on the blue dome-shaped bell's center.",
+    "Tap the brown-bottomed bell's top center with the left arm.",
+    "Guide the left arm to click the round bell's top center.",
+    "Press the specified top area of the metal bell with plastic parts.",
+    "Click the top center of the brown-bottomed bell on table.",
+    "Press down the top of the compact bell with round base using the left arm.",
+    "Press down the bell with brown base's top center gently.",
+    "Ask the left arm to interact with the blue dome-shaped bell's top.",
+    "Click the small blue and brown bell's top center using the left arm.",
+    "Pinpoint the bell with brown base and click its top center.",
+    "Tap the top center of the smooth blue bell.",
+    "Make the left arm interact with the flat-topped bell's top center.",
+    "Press 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.",
+    "Activate the smooth blue bell by pressing its top center.",
+    "Press the center of the small blue and brown bell using the left arm.",
+    "Press the bell with protruding knob's top center with the left arm firmly.",
+    "Use the left arm to touch the bell with circular body's top center.",
+    "Push the bell with circular body's <top center> on the table",
+    "Click the compact bell with round base at its top center on table.",
+    "Press the compact bell with round base's top center on the table.",
+    "Press the center top of the compact bell with round base.",
+    "Locate the blue dome-shaped bell and click its top center.",
+    "Click the small blue and brown bell's <top center> using the left arm",
+    "Direct the left arm to click the top of the compact bell with round base.",
+    "Direct the left arm to touch the compact bell with round base's top.",
+    "Have the left arm click at the small blue and brown bell's top center.",
+    "Click the designated center of the bell with protruding knob.",
+    "Tap the compact bell with round base's top center with the left arm.",
+    "Push the center of the metal bell with plastic parts using the left arm.",
+    "Command the left arm to press the blue bell's top.",
+    "Click using the left arm on the smooth blue bell's center.",
+    "Tap the bell with circular body's top center with the left arm.",
+    "Guide the left arm to click the brown-bottomed bell's top center.",
+    "Press the specified top area of the blue dome-shaped bell.",
+    "Click the top center of the compact bell with round base on table.",
+    "Press down the top of the flat-topped bell using the left arm.",
+    "Press down the brown-bottomed bell's top center gently.",
+    "Ask the left arm to interact with the blue bell's top.",
+    "Click the bell with protruding knob's top center using the left arm.",
+    "Pinpoint the metal bell with plastic parts and click its top center.",
+    "Tap the top center of the bell with brown base.",
+    "Make the left arm interact with the bell with protruding knob's top center.",
+    "Press the top center of the flat-topped bell on table.",
+    "Use the left arm to press the round bell's top section.",
+    "Activate the smooth blue bell by pressing its top center.",
+    "Press the center of the round bell using the left arm.",
+    "Press the compact bell with round base's top center with the left arm firmly.",
+    "Use the left arm to touch the bell with circular body's top center.",
+    "Push the metal bell with plastic parts's <top center> on the table",
+    "Click the blue dome-shaped bell at its top center on table.",
+    "Press the smooth blue bell's top center on the table.",
+    "Press the center top of the flat-topped bell.",
+    "Locate the bell with brown base and click its top center.",
+    "Click the compact bell with round base's <top center> using the left arm",
+    "Direct the left arm to click the top of the compact bell with round base.",
+    "Direct the left arm to touch the bell with circular body's top.",
+    "Have the left arm click at the bell with brown base's top center.",
+    "Click the designated center of the blue dome-shaped bell.",
+    "Tap the smooth blue bell's top center with the left arm.",
+    "Push the center of the bell with protruding knob using the left arm.",
+    "Command the left arm to press the blue dome-shaped bell's top.",
+    "Click using the left arm on the bell with protruding knob's center.",
+    "Tap the round bell's top center with the left arm.",
+    "Guide the left arm to click the smooth blue bell's top center.",
+    "Press the specified top area of the flat-topped bell.",
+    "Click the top center of the smooth blue bell on table.",
+    "Press down the top of the compact bell with round base using the left arm.",
+    "Press down the blue bell's top center gently.",
+    "Ask the left arm to interact with the blue bell's top.",
+    "Click the blue dome-shaped bell's top center using the left arm.",
+    "Pinpoint the bell with protruding knob and click its top center.",
+    "Tap the top center of the blue dome-shaped bell.",
+    "Make the left arm interact with the blue bell's top center.",
+    "Press the top center of the bell with protruding knob on table.",
+    "Use the left arm to press the metal bell with plastic parts's top section.",
+    "Activate the brown-bottomed bell by pressing its top center.",
+    "Press the center of the bell with circular body using the left arm.",
+    "Press the brown-bottomed bell's top center with the left arm firmly.",
+    "Use the left arm to touch the bell with circular body's top center.",
+    "Push the blue dome-shaped bell's <top center> on the table",
+    "Click the blue dome-shaped bell at its top center on table.",
+    "Press the small blue and brown bell's top center on the table.",
+    "Press the center top of the flat-topped bell.",
+    "Locate the bell with brown base and click its top center.",
+    "Click the blue dome-shaped bell's <top center> using the left arm",
+    "Direct the left arm to click the top of the bell with circular body.",
+    "Direct the left arm to touch the round bell's top.",
+    "Have the left arm click at the bell with circular body's top center."
+  ],
+  "unseen": [
+    "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.",
+    "Click the top center of the blue bell with glossy finish.",
+    "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.",
+    "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 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 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 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.",
+    "Click the top center of the palm-sized bell.",
+    "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 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 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.",
+    "Click the top center of the blue bell with glossy finish.",
+    "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 palm-sized bell'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.",
+    "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.",
+    "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 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.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "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 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.",
+    "Direct the left arm to click the blue bell with glossy finish'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.",
+    "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 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.",
+    "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 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 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.",
+    "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 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.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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 blue bell with glossy finish's top."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10005026.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10005026.json
new file mode 100644
index 0000000000000000000000000000000000000000..56218648e1bdaefe7034590970883a99c6bc97e4
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10005026.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the compact tabletop bell's top center using the right arm.",
+    "Tap the white bell's top center with the right arm.",
+    "Direct the right arm to touch the white bell's top.",
+    "Use the right arm to touch the white bell with black bottom's top center.",
+    "Ask the right arm to interact with the white bell's top.",
+    "Click the rounded bell with flat black part's <top center> using the right arm",
+    "Push the center of the white dome bell using the right arm.",
+    "Click the designated center of the bell with black flat base.",
+    "Click the top center of the white and black colored bell on table.",
+    "Activate the bell with black flat base by pressing its top center.",
+    "Tap the top center of the white and black colored bell.",
+    "Press the white bell's top center with the right arm firmly.",
+    "Pinpoint the white bell with black bottom and click its top center.",
+    "Have the right arm click at the simple hand bell with black stand's top center.",
+    "Locate the bell with black flat base and click its top center.",
+    "Click using the right arm on the bell shaped like half-circle dome's center.",
+    "Press down the top of the white bell using the right arm.",
+    "Push the white bell with black bottom's <top center> on the table",
+    "Press down the bell shaped like half-circle dome's top center gently.",
+    "Direct the right arm to click the top of the simple hand bell with black stand.",
+    "Tap the plastic and metal bell's top center with the right arm.",
+    "Command the right arm to press the white bell's top.",
+    "Press the rounded bell with flat black part's top center on the table.",
+    "Press the center of the simple hand bell with black stand using the right arm.",
+    "Press the top center of the simple hand bell with black stand on table.",
+    "Use the right arm to press the white and black colored bell's top section.",
+    "Guide the right arm to click the white and black colored bell's top center.",
+    "Click the white dome bell at its top center on table.",
+    "Make the right arm interact with the white bell with black bottom's top center.",
+    "Press the center top of the small desk bell for tapping.",
+    "Press the specified top area of the white and black colored bell.",
+    "Click the compact tabletop bell's top center using the right arm.",
+    "Tap the bell with metallic top and plastic base's top center with the right arm.",
+    "Direct the right arm to touch the simple hand bell with black stand's top.",
+    "Use the right arm to touch the white and black colored bell's top center.",
+    "Ask the right arm to interact with the small desk bell for tapping's top.",
+    "Click the white dome bell's <top center> using the right arm",
+    "Push the center of the bell with black flat base using the right arm.",
+    "Click the designated center of the white and black colored bell.",
+    "Click the top center of the small desk bell for tapping on table.",
+    "Activate the rounded bell with flat black part by pressing its top center.",
+    "Tap the top center of the simple hand bell with black stand.",
+    "Press the bell shaped like half-circle dome's top center with the right arm firmly.",
+    "Pinpoint the bell with black flat base and click its top center.",
+    "Have the right arm click at the plastic and metal bell's top center.",
+    "Locate the white and black colored bell and click its top center.",
+    "Click using the right arm on the white and black colored bell's center.",
+    "Press down the top of the small desk bell for tapping using the right arm.",
+    "Push the bell shaped like half-circle dome's <top center> on the table",
+    "Press down the compact tabletop bell's top center gently.",
+    "Direct the right arm to click the top of the small desk bell for tapping.",
+    "Tap the compact tabletop bell's top center with the right arm.",
+    "Command the right arm to press the white bell's top.",
+    "Press the white dome bell's top center on the table.",
+    "Press the center of the simple hand bell with black stand using the right arm.",
+    "Press the top center of the simple hand bell with black stand on table.",
+    "Use the right arm to press the plastic and metal bell's top section.",
+    "Guide the right arm to click the bell shaped like half-circle dome's top center.",
+    "Click the white and black colored bell at its top center on table.",
+    "Make the right arm interact with the white bell's top center.",
+    "Press the center top of the white dome bell.",
+    "Press the specified top area of the white and black colored bell.",
+    "Click the white bell's top center using the right arm.",
+    "Tap the simple hand bell with black stand's top center with the right arm.",
+    "Direct the right arm to touch the white bell's top.",
+    "Use the right arm to touch the bell with metallic top and plastic base's top center.",
+    "Ask the right arm to interact with the white dome bell's top.",
+    "Click the small desk bell for tapping's <top center> using the right arm",
+    "Push the center of the white dome bell using the right arm.",
+    "Click the designated center of the compact tabletop bell.",
+    "Click the top center of the small desk bell for tapping on table.",
+    "Activate the small desk bell for tapping by pressing its top center.",
+    "Tap the top center of the white bell with black bottom.",
+    "Press the white bell's top center with the right arm firmly.",
+    "Pinpoint the white dome bell and click its top center.",
+    "Have the right arm click at the white bell with black bottom's top center.",
+    "Locate the compact tabletop bell and click its top center.",
+    "Click using the right arm on the rounded bell with flat black part's center.",
+    "Press down the top of the compact tabletop bell using the right arm.",
+    "Push the bell with metallic top and plastic base's <top center> on the table",
+    "Press down the small desk bell for tapping's top center gently.",
+    "Direct the right arm to click the top of the plastic and metal bell.",
+    "Tap the white dome bell's top center with the right arm.",
+    "Command the right arm to press the compact tabletop bell's top.",
+    "Press the simple hand bell with black stand's top center on the table.",
+    "Press the center of the bell with black flat base using the right arm.",
+    "Press the top center of the small desk bell for tapping on table.",
+    "Use the right arm to press the bell with black flat base's top section.",
+    "Guide the right arm to click the plastic and metal bell's top center.",
+    "Click the plastic and metal bell at its top center on table.",
+    "Make the right arm interact with the small desk bell for tapping's top center.",
+    "Press the center top of the bell with metallic top and plastic base.",
+    "Press the specified top area of the compact tabletop bell.",
+    "Click the white dome bell's top center using the right arm.",
+    "Tap the white bell with black bottom's top center with the right arm.",
+    "Direct the right arm to touch the simple hand bell with black stand's top.",
+    "Use the right arm to touch the white bell's top center.",
+    "Ask the right arm to interact with the bell shaped like half-circle dome's top.",
+    "Click the compact tabletop bell's <top center> using the right arm",
+    "Push the center of the bell shaped like half-circle dome using the right arm."
+  ],
+  "unseen": [
+    "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.",
+    "Click the smooth metal bell's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "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 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 lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "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.",
+    "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.",
+    "Click the top center of the medium-sized bell.",
+    "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.",
+    "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 lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "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.",
+    "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.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "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.",
+    "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.",
+    "Click the top center of the medium-sized bell.",
+    "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.",
+    "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.",
+    "Click the top center of the smooth metal bell.",
+    "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 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.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "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.",
+    "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.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "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.",
+    "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.",
+    "Click the medium-sized bell's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "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.",
+    "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 lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the smooth metal bell.",
+    "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.",
+    "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 smooth metal bell's top center on the table.",
+    "Click the top center of the medium-sized bell.",
+    "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 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 lightweight bell with smooth surface's top center on the table.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "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.",
+    "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.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "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.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Find the medium-sized bell and click its top center."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10005147.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10005147.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4618bc6f2213a99b0c85ec39b7bc6f662eea2c4
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10005147.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Direct the right arm to touch the bell with brown base's top.",
+    "Ask the right arm to interact with the smooth blue bell's top.",
+    "Command the right arm to press the flat-topped bell's top.",
+    "Press down the top of the bell with circular body using the right arm.",
+    "Push the center of the compact bell with round base using the right arm.",
+    "Click the round bell at its top center on table.",
+    "Have the right arm click at the brown-bottomed bell's top center.",
+    "Tap the bell with brown base's top center with the right arm.",
+    "Press the center top of the brown-bottomed bell.",
+    "Activate the round bell by pressing its top center.",
+    "Click the metal bell with plastic parts's top center using the right arm.",
+    "Pinpoint the bell with protruding knob and click its top center.",
+    "Press the top center of the smooth blue bell on table.",
+    "Click the designated center of the bell with brown base.",
+    "Push the bell with brown base's <top center> on the table",
+    "Tap the brown-bottomed bell's top center with the right arm.",
+    "Guide the right arm to click the compact bell with round base's top center.",
+    "Press the specified top area of the compact bell with round base.",
+    "Click the bell with circular body's <top center> using the right arm",
+    "Locate the compact bell with round base and click its top center.",
+    "Click the top center of the round bell on table.",
+    "Press down the small blue and brown bell's top center gently.",
+    "Make the right arm interact with the bell with brown base's top center.",
+    "Press the small blue and brown bell's top center with the right arm firmly.",
+    "Press the center of the round bell using the right arm.",
+    "Click using the right arm on the round bell's center.",
+    "Use the right arm to touch the bell with protruding knob's top center.",
+    "Direct the right arm to click the top of the metal bell with plastic parts.",
+    "Use the right arm to press the smooth blue bell's top section.",
+    "Press the blue bell's top center on the table.",
+    "Tap the top center of the metal bell with plastic parts.",
+    "Direct the right arm to touch the smooth blue bell's top.",
+    "Ask the right arm to interact with the flat-topped bell's top.",
+    "Command the right arm to press the blue bell's top.",
+    "Press down the top of the bell with protruding knob using the right arm.",
+    "Push the center of the blue bell using the right arm.",
+    "Click the bell with circular body at its top center on table.",
+    "Have the right arm click at the bell with protruding knob's top center.",
+    "Tap the blue dome-shaped bell's top center with the right arm.",
+    "Press the center top of the blue bell.",
+    "Activate the metal bell with plastic parts by pressing its top center.",
+    "Click the flat-topped bell's top center using the right arm.",
+    "Pinpoint the blue dome-shaped bell and click its top center.",
+    "Press the top center of the metal bell with plastic parts on table.",
+    "Click the designated center of the brown-bottomed bell.",
+    "Push the bell with circular body's <top center> on the table",
+    "Tap the blue dome-shaped bell's top center with the right arm.",
+    "Guide the right arm to click the round bell's top center.",
+    "Press the specified top area of the compact bell with round base.",
+    "Click the brown-bottomed bell's <top center> using the right arm",
+    "Locate the metal bell with plastic parts and click its top center.",
+    "Click the top center of the flat-topped bell on table.",
+    "Press down the metal bell with plastic parts's top center gently.",
+    "Make the right arm interact with the blue bell's top center.",
+    "Press the compact bell with round base's top center with the right arm firmly.",
+    "Press the center of the metal bell with plastic parts using the right arm.",
+    "Click using the right arm on the blue bell's center.",
+    "Use the right arm to touch the flat-topped bell's top center.",
+    "Direct the right arm to click the top of the bell with brown base.",
+    "Use the right arm to press the bell with circular body's top section.",
+    "Press the compact bell with round base's top center on the table.",
+    "Tap the top center of the small blue and brown bell.",
+    "Direct the right arm to touch the round bell's top.",
+    "Ask the right arm to interact with the smooth blue bell's top.",
+    "Command the right arm to press the blue bell's top.",
+    "Press down the top of the flat-topped bell using the right arm.",
+    "Push the center of the metal bell with plastic parts using the right arm.",
+    "Click the metal bell with plastic parts at its top center on table.",
+    "Have the right arm click at the smooth blue bell's top center.",
+    "Tap the bell with protruding knob's top center with the right arm.",
+    "Press the center top of the smooth blue bell.",
+    "Activate the round bell by pressing its top center.",
+    "Click the bell with protruding knob's top center using the right arm.",
+    "Pinpoint the smooth blue bell and click its top center.",
+    "Press the top center of the round bell on table.",
+    "Click the designated center of the bell with brown base.",
+    "Push the bell with brown base's <top center> on the table",
+    "Tap the small blue and brown bell's top center with the right arm.",
+    "Guide the right arm to click the brown-bottomed bell's top center.",
+    "Press the specified top area of the smooth blue bell.",
+    "Click the metal bell with plastic parts's <top center> using the right arm",
+    "Locate the small blue and brown bell and click its top center.",
+    "Click the top center of the brown-bottomed bell on table.",
+    "Press down the compact bell with round base's top center gently.",
+    "Make the right arm interact with the flat-topped bell's top center.",
+    "Press the bell with protruding knob's top center with the right arm firmly.",
+    "Press the center of the smooth blue bell using the right arm.",
+    "Click using the right arm on the bell with circular body's center.",
+    "Use the right arm to touch the round bell's top center.",
+    "Direct the right arm to click the top of the blue dome-shaped bell.",
+    "Use the right arm to press the blue bell's top section.",
+    "Press the bell with protruding knob's top center on the table.",
+    "Tap the top center of the bell with brown base.",
+    "Direct the right arm to touch the bell with protruding knob's top.",
+    "Ask the right arm to interact with the blue bell's top.",
+    "Command the right arm to press the blue bell's top.",
+    "Press down the top of the blue bell using the right arm.",
+    "Push the center of the round bell using the right arm.",
+    "Click the smooth blue bell at its top center on table.",
+    "Have the right arm click at the bell with protruding knob's top center."
+  ],
+  "unseen": [
+    "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.",
+    "Click the top center of the palm-sized bell.",
+    "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 bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's 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.",
+    "Click the top center of the blue bell with glossy finish.",
+    "Find the palm-sized bell 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.",
+    "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.",
+    "Click the top center of the blue bell with glossy finish.",
+    "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 palm-sized bell's top center.",
+    "Use the right arm to press the palm-sized bell's 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.",
+    "Click the top center of the bell with raised round top.",
+    "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 bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's 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.",
+    "Click the top center of the bell with raised round top.",
+    "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 palm-sized bell's 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.",
+    "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.",
+    "Find the palm-sized bell 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 bell with raised round top's 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.",
+    "Click the top center of the palm-sized bell.",
+    "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 bell with raised round top's 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.",
+    "Click the top center of the palm-sized bell.",
+    "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.",
+    "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.",
+    "Click the top center of the palm-sized bell.",
+    "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 bell with raised round top's top center.",
+    "Use the right arm to press the bell with raised round top's 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.",
+    "Click the top center of the blue bell with glossy finish.",
+    "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 bell with raised round top's 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.",
+    "Click the top center of the blue bell with glossy finish.",
+    "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.",
+    "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 top center of the blue bell with glossy finish.",
+    "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 blue bell with glossy finish's top center.",
+    "Use the right arm to press the palm-sized bell's 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.",
+    "Click the top center of the palm-sized bell.",
+    "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 blue bell with glossy finish's 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.",
+    "Click the top center of the bell with raised round top.",
+    "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 blue bell with glossy finish's top center.",
+    "Use the right arm to press the palm-sized bell's 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."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10005155.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10005155.json
new file mode 100644
index 0000000000000000000000000000000000000000..da98a28408f910009b4c9b41a3652af6c27eea44
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10005155.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "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.",
+    "Ask the left arm to interact with the rounded bell with flat black part's top.",
+    "Press the simple hand bell with black stand's top center on the table.",
+    "Press the center top of the small desk bell for tapping.",
+    "Press down the compact tabletop bell's top center gently.",
+    "Tap the top center of the bell shaped like half-circle dome.",
+    "Use the left arm to press the white dome bell's top section.",
+    "Direct the left arm to click the top of the white and black colored bell.",
+    "Click the rounded bell with flat black part at its top center on table.",
+    "Push the compact tabletop bell's <top center> on the table",
+    "Pinpoint the bell with metallic top and plastic base and click its top center.",
+    "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.",
+    "Press the specified top area of the bell with black flat base.",
+    "Click using the left arm on the compact tabletop bell's center.",
+    "Have the left arm click at the white and black colored bell's top center.",
+    "Press the top center of the rounded bell with flat black part on table.",
+    "Click the bell with black flat base's top center using the left arm.",
+    "Tap the rounded bell with flat black part's top center with the left arm.",
+    "Locate the bell shaped like half-circle dome and click its top center.",
+    "Click the rounded bell with flat black part's <top center> using the left arm",
+    "Press the bell with black flat base's top center with the left arm firmly.",
+    "Press the center of the bell with metallic top and plastic base using the left arm.",
+    "Command the left arm to press the bell with black flat base's top.",
+    "Activate the rounded bell with flat black part by pressing its top center.",
+    "Direct the left arm to touch the plastic and metal bell's top.",
+    "Make the left arm interact with the simple hand bell with black stand's top center.",
+    "Push the center of the bell with metallic top and plastic base using the left arm.",
+    "Click the top center of the bell shaped like half-circle dome on table.",
+    "Guide the left arm to click the white dome bell's top center.",
+    "Tap the rounded bell with flat black part's top center with the left arm.",
+    "Click the designated center of the white bell.",
+    "Ask the left arm to interact with the white dome bell's top.",
+    "Press the white and black colored bell's top center on the table.",
+    "Press the center top of the white bell with black bottom.",
+    "Press down the bell shaped like half-circle dome's top center gently.",
+    "Tap the top center of the bell with black flat base.",
+    "Use the left arm to press the bell with black flat base's top section.",
+    "Direct the left arm to click the top of the bell with black flat base.",
+    "Click the white dome bell at its top center on table.",
+    "Push the bell with black flat base's <top center> on the table",
+    "Pinpoint the rounded bell with flat black part and click its top center.",
+    "Press down the top of the white and black colored bell using the left arm.",
+    "Use the left arm to touch the plastic and metal bell's top center.",
+    "Press the specified top area of the bell shaped like half-circle dome.",
+    "Click using the left arm on the bell shaped like half-circle dome's center.",
+    "Have the left arm click at the bell with black flat base's top center.",
+    "Press the top center of the rounded bell with flat black part on table.",
+    "Click the rounded bell with flat black part's top center using the left arm.",
+    "Tap the white bell with black bottom's top center with the left arm.",
+    "Locate the white dome bell and click its top center.",
+    "Click the compact tabletop bell's <top center> using the left arm",
+    "Press the compact tabletop bell's top center with the left arm firmly.",
+    "Press the center of the white dome bell using the left arm.",
+    "Command the left arm to press the white and black colored bell's top.",
+    "Activate the bell with metallic top and plastic base by pressing its top center.",
+    "Direct the left arm to touch the bell shaped like half-circle dome's top.",
+    "Make the left arm interact with the white bell's top center.",
+    "Push the center of the bell shaped like half-circle dome using the left arm.",
+    "Click the top center of the simple hand bell with black stand on table.",
+    "Guide the left arm to click the white bell with black bottom's top center.",
+    "Tap the white bell with black bottom's top center with the left arm.",
+    "Click the designated center of the white and black colored bell.",
+    "Ask the left arm to interact with the simple hand bell with black stand's top.",
+    "Press the plastic and metal bell's top center on the table.",
+    "Press the center top of the white bell.",
+    "Press down the bell with metallic top and plastic base's top center gently.",
+    "Tap the top center of the compact tabletop bell.",
+    "Use the left arm to press the plastic and metal bell's top section.",
+    "Direct the left arm to click the top of the white bell with black bottom.",
+    "Click the bell with metallic top and plastic base at its top center on table.",
+    "Push the compact tabletop bell's <top center> on the table",
+    "Pinpoint the compact tabletop bell and click its top center.",
+    "Press down the top of the plastic and metal bell using the left arm.",
+    "Use the left arm to touch the simple hand bell with black stand's top center.",
+    "Press the specified top area of the compact tabletop bell.",
+    "Click using the left arm on the rounded bell with flat black part's center.",
+    "Have the left arm click at the white dome bell's top center.",
+    "Press the top center of the bell shaped like half-circle dome on table.",
+    "Click the simple hand bell with black stand's top center using the left arm.",
+    "Tap the bell with black flat base's top center with the left arm.",
+    "Locate the compact tabletop bell and click its top center.",
+    "Click the simple hand bell with black stand's <top center> using the left arm",
+    "Press the small desk bell for tapping's top center with the left arm firmly.",
+    "Press the center of the white bell using the left arm.",
+    "Command the left arm to press the white dome bell's top.",
+    "Activate the bell with metallic top and plastic base by pressing its top center.",
+    "Direct the left arm to touch the white bell's top.",
+    "Make the left arm interact with the small desk bell for tapping's top center.",
+    "Push the center of the bell shaped like half-circle dome using the left arm.",
+    "Click the top center of the bell with metallic top and plastic base on table.",
+    "Guide the left arm to click the plastic and metal bell's top center.",
+    "Tap the white dome bell's top center with the left arm.",
+    "Click the designated center of the white bell.",
+    "Ask the left arm to interact with the compact tabletop bell's top.",
+    "Press the bell shaped like half-circle dome's top center on the table.",
+    "Press the center top of the plastic and metal bell.",
+    "Press down the white bell's top center gently.",
+    "Tap the top center of the white and black colored bell."
+  ],
+  "unseen": [
+    "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 smooth metal bell and click its top center.",
+    "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.",
+    "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 lightweight bell with smooth surface's top.",
+    "Find the smooth metal bell and click its top center.",
+    "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 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 medium-sized bell's top.",
+    "Find the smooth metal bell and click its top center.",
+    "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 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 lightweight bell with smooth surface and click its 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 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 lightweight bell with smooth surface's top.",
+    "Find the lightweight bell with smooth surface and click its 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 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.",
+    "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 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.",
+    "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.",
+    "Find the medium-sized bell and click its 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 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 lightweight bell with smooth surface'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 top center of the smooth metal 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.",
+    "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.",
+    "Find the medium-sized bell and click its top center.",
+    "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.",
+    "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.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "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.",
+    "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.",
+    "Find the smooth metal bell and click its top center.",
+    "Click the top center of the smooth metal bell.",
+    "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.",
+    "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.",
+    "Find the medium-sized bell and click its 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 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.",
+    "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 top center of the lightweight bell with smooth surface.",
+    "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 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 lightweight bell with smooth surface's top.",
+    "Find the medium-sized bell and click its top center.",
+    "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.",
+    "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."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10005156.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10005156.json
new file mode 100644
index 0000000000000000000000000000000000000000..e36998d60d7969d70d163d6c75220acb501fd137
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10005156.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Make the left arm interact with the white bell with black bottom's top center.",
+    "Tap the top center of the bell with metallic top and plastic base.",
+    "Click the white and black colored bell at its top center on table.",
+    "Press the specified top area of the bell shaped like half-circle dome.",
+    "Locate the white bell and click its top center.",
+    "Pinpoint the bell with metallic top and plastic base and click its top center.",
+    "Tap the compact tabletop bell's top center with the left arm.",
+    "Use the left arm to touch the white bell's top center.",
+    "Press down the white bell's top center gently.",
+    "Press the top center of the bell with black flat base on table.",
+    "Guide the left arm to click the white dome bell's top center.",
+    "Click the small desk bell for tapping's top center using the left arm.",
+    "Click using the left arm on the bell with metallic top and plastic base's center.",
+    "Command the left arm to press the rounded bell with flat black part's top.",
+    "Tap the compact tabletop bell's top center with the left arm.",
+    "Press the bell with metallic top and plastic base's top center on the table.",
+    "Press down the top of the compact tabletop bell using the left arm.",
+    "Ask the left arm to interact with the white and black colored bell's top.",
+    "Push the center of the compact tabletop bell using the left arm.",
+    "Click the top center of the white bell with black bottom on table.",
+    "Press the center of the rounded bell with flat black part using the left arm.",
+    "Click the designated center of the plastic and metal bell.",
+    "Use the left arm to press the compact tabletop bell's top section.",
+    "Activate the compact tabletop bell by pressing its top center.",
+    "Press the center top of the white and black colored bell.",
+    "Direct the left arm to touch the white dome bell's top.",
+    "Press the rounded bell with flat black part's top center with the left arm firmly.",
+    "Have the left arm click at the white bell's top center.",
+    "Push 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",
+    "Direct the left arm to click the top of the bell shaped like half-circle dome.",
+    "Make the left arm interact with the white and black colored bell's top center.",
+    "Tap the top center of the bell with metallic top and plastic base.",
+    "Click the compact tabletop bell at its top center on table.",
+    "Press the specified top area of the rounded bell with flat black part.",
+    "Locate the plastic and metal bell and click its top center.",
+    "Pinpoint the simple hand bell with black stand and click its top center.",
+    "Tap the compact tabletop bell's top center with the left arm.",
+    "Use the left arm to touch the plastic and metal bell's top center.",
+    "Press down the white bell with black bottom's top center gently.",
+    "Press the top center of the simple hand bell with black stand on table.",
+    "Guide the left arm to click the bell with black flat base's top center.",
+    "Click the white bell's top center using the left arm.",
+    "Click using the left arm on the white and black colored bell's center.",
+    "Command the left arm to press the bell with black flat base's top.",
+    "Tap the white dome bell's top center with the left arm.",
+    "Press the rounded bell with flat black part's top center on the table.",
+    "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.",
+    "Push the center of the bell with metallic top and plastic base using the left arm.",
+    "Click the top center of the bell with metallic top and plastic base on table.",
+    "Press the center of the bell shaped like half-circle dome using the left arm.",
+    "Click the designated center of the small desk bell for tapping.",
+    "Use the left arm to press the bell with metallic top and plastic base's top section.",
+    "Activate the small desk bell for tapping by pressing its top center.",
+    "Press the center top of the simple hand bell with black stand.",
+    "Direct the left arm to touch the bell with metallic top and plastic base's top.",
+    "Press the simple hand bell with black stand's top center with the left arm firmly.",
+    "Have the left arm click at the white dome bell's top center.",
+    "Push the white bell with black bottom's <top center> on the table",
+    "Click the bell with metallic top and plastic base's <top center> using the left arm",
+    "Direct the left arm to click the top of the white and black colored bell.",
+    "Make the left arm interact with the compact tabletop bell's top center.",
+    "Tap the top center of the white bell.",
+    "Click the bell with black flat base at its top center on table.",
+    "Press the specified top area of the white and black colored bell.",
+    "Locate the white bell and click its top center.",
+    "Pinpoint the bell shaped like half-circle dome and click its top center.",
+    "Tap the bell with metallic top and plastic base's top center with the left arm.",
+    "Use the left arm to touch the rounded bell with flat black part's top center.",
+    "Press down the simple hand bell with black stand's top center gently.",
+    "Press the top center of the small desk bell for tapping on table.",
+    "Guide the left arm to click the rounded bell with flat black part's top center.",
+    "Click the small desk bell for tapping's top center using the left arm.",
+    "Click using the left arm on the white dome bell's center.",
+    "Command the left arm to press the white bell's top.",
+    "Tap the white and black colored bell's top center with the left arm.",
+    "Press the bell with metallic top and plastic base's top center on the table.",
+    "Press down the top of the bell with metallic top and plastic base using the left arm.",
+    "Ask the left arm to interact with the white and black colored bell's top.",
+    "Push the center of the bell with black flat base using the left arm.",
+    "Click the top center of the white bell with black bottom on table.",
+    "Press the center of the white dome bell using the left arm.",
+    "Click the designated center of the bell with metallic top and plastic base.",
+    "Use the left arm to press the plastic and metal bell's top section.",
+    "Activate the small desk bell for tapping by pressing its top center.",
+    "Press the center top of the compact tabletop bell.",
+    "Direct the left arm to touch the bell with metallic top and plastic base's top.",
+    "Press the white bell with black bottom's top center with the left arm firmly.",
+    "Have the left arm click at the white bell's top center.",
+    "Push the bell with metallic top and plastic base's <top center> on the table",
+    "Click the white bell with black bottom's <top center> using the left arm",
+    "Direct the left arm to click the top of the white bell with black bottom.",
+    "Make the left arm interact with the white and black colored bell's top center.",
+    "Tap the top center of the white bell with black bottom.",
+    "Click the small desk bell for tapping at its top center on table.",
+    "Press the specified top area of the white bell with black bottom.",
+    "Locate the plastic and metal bell and click its top center.",
+    "Pinpoint the plastic and metal bell and click its top center.",
+    "Tap the simple hand bell with black stand's top center with the left arm."
+  ],
+  "unseen": [
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's 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.",
+    "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.",
+    "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 top center of the lightweight bell with smooth surface.",
+    "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 smooth metal bell's top center on the table.",
+    "Find the medium-sized bell and click its top center.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "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.",
+    "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 top center of the lightweight bell with smooth surface.",
+    "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.",
+    "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.",
+    "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.",
+    "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 lightweight bell with smooth surface's top center.",
+    "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.",
+    "Use the left arm to press the smooth metal bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "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.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "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 top center of the medium-sized bell.",
+    "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.",
+    "Click the smooth metal bell's top center on the table.",
+    "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 top center of the smooth metal bell.",
+    "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 medium-sized bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "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 top center of the lightweight bell with smooth surface.",
+    "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 lightweight bell with smooth surface's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "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 top center of the medium-sized bell.",
+    "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.",
+    "Click the medium-sized bell's top center on the table.",
+    "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 top center of the smooth metal bell.",
+    "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 medium-sized bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "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 top center of the smooth metal bell.",
+    "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 smooth metal bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "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 top center of the medium-sized bell.",
+    "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.",
+    "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 top center of the medium-sized bell.",
+    "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 medium-sized bell's top center.",
+    "Click the smooth metal bell's top center on the table.",
+    "Find the lightweight bell with smooth surface and click its top center."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10006002.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10006002.json
new file mode 100644
index 0000000000000000000000000000000000000000..f00631e516747b1e91ad218b398cae4b0091825e
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10006002.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Direct the left arm to click the top of the white dome bell.",
+    "Press the small desk bell for tapping's top center on the table.",
+    "Guide the left arm to click the compact tabletop bell's top center.",
+    "Make the left arm interact with the simple hand bell with black stand's top center.",
+    "Push the center of the white dome bell using the left arm.",
+    "Have the left arm click at the bell with metallic top and plastic base's top center.",
+    "Press the center of the bell shaped like half-circle dome using the left arm.",
+    "Ask the left arm to interact with the rounded bell with flat black part's top.",
+    "Press the specified top area of the white dome bell.",
+    "Click using the left arm on the small desk bell for tapping's center.",
+    "Command the left arm to press the white and black colored bell's top.",
+    "Use the left arm to press the rounded bell with flat black part's top section.",
+    "Activate the simple hand bell with black stand by pressing its top center.",
+    "Press the bell with metallic top and plastic base's top center with the left arm firmly.",
+    "Click the designated center of the bell with black flat base.",
+    "Press down the rounded bell with flat black part's top center gently.",
+    "Click the white bell at its top center on table.",
+    "Tap the plastic and metal bell's top center with the left arm.",
+    "Direct the left arm to touch the white dome bell's top.",
+    "Press the center top of the simple hand bell with black stand.",
+    "Click the top center of the white dome bell on table.",
+    "Click the bell with black flat base's top center using the left arm.",
+    "Press down the top of the white and black colored bell using the left arm.",
+    "Push the rounded bell with flat black part's <top center> on the table",
+    "Click the white bell with black bottom's <top center> using the left arm",
+    "Locate the simple hand bell with black stand and click its top center.",
+    "Press the top center of the bell shaped like half-circle dome on table.",
+    "Use the left arm to touch the plastic and metal bell's top center.",
+    "Tap the white bell with black bottom's top center with the left arm.",
+    "Tap the top center of the white dome bell.",
+    "Pinpoint the white bell with black bottom and click its top center.",
+    "Direct the left arm to click the top of the compact tabletop bell.",
+    "Press the simple hand bell with black stand's top center on the table.",
+    "Guide the left arm to click the compact tabletop bell's top center.",
+    "Make the left arm interact with the bell shaped like half-circle dome's top center.",
+    "Push the center of the white bell with black bottom using the left arm.",
+    "Have the left arm click at the white dome bell's top center.",
+    "Press the center of the bell with metallic top and plastic base using the left arm.",
+    "Ask the left arm to interact with the white dome bell's top.",
+    "Press the specified top area of the simple hand bell with black stand.",
+    "Click using the left arm on the white dome bell's center.",
+    "Command the left arm to press the plastic and metal bell's top.",
+    "Use the left arm to press the rounded bell with flat black part's top section.",
+    "Activate the plastic and metal bell by pressing its top center.",
+    "Press the bell shaped like half-circle dome's top center with the left arm firmly.",
+    "Click the designated center of the white bell.",
+    "Press down the plastic and metal bell's top center gently.",
+    "Click the white bell with black bottom at its top center on table.",
+    "Tap the bell with black flat base's top center with the left arm.",
+    "Direct the left arm to touch the bell with metallic top and plastic base's top.",
+    "Press the center top of the bell shaped like half-circle dome.",
+    "Click the top center of the bell shaped like half-circle dome on table.",
+    "Click the compact tabletop bell's top center using the left arm.",
+    "Press down the top of the plastic and metal bell using the left arm.",
+    "Push the simple hand bell with black stand's <top center> on the table",
+    "Click the compact tabletop bell's <top center> using the left arm",
+    "Locate the simple hand bell with black stand and click its top center.",
+    "Press the top center of the rounded bell with flat black part on table.",
+    "Use the left arm to touch the bell with metallic top and plastic base's top center.",
+    "Tap the simple hand bell with black stand's top center with the left arm.",
+    "Tap the top center of the small desk bell for tapping.",
+    "Pinpoint the simple hand bell with black stand and click its top center.",
+    "Direct the left arm to click the top of the simple hand bell with black stand.",
+    "Press the bell with black flat base's top center on the table.",
+    "Guide the left arm to click the compact tabletop bell's top center.",
+    "Make the left arm interact with the bell with black flat base's top center.",
+    "Push the center of the compact tabletop bell using the left arm.",
+    "Have the left arm click at the bell shaped like half-circle dome's top center.",
+    "Press the center of the plastic and metal bell using the left arm.",
+    "Ask the left arm to interact with the bell with metallic top and plastic base's top.",
+    "Press the specified top area of the white bell with black bottom.",
+    "Click using the left arm on the white bell with black bottom's center.",
+    "Command the left arm to press the small desk bell for tapping's top.",
+    "Use the left arm to press the white bell's top section.",
+    "Activate the bell shaped like half-circle dome by pressing its top center.",
+    "Press the white dome bell's top center with the left arm firmly.",
+    "Click the designated center of the white bell.",
+    "Press down the white bell's top center gently.",
+    "Click the bell shaped like half-circle dome at its top center on table.",
+    "Tap the white bell with black bottom's top center with the left arm.",
+    "Direct the left arm to touch the bell with metallic top and plastic base's top.",
+    "Press the center top of the rounded bell with flat black part.",
+    "Click the top center of the white dome bell on table.",
+    "Click the white dome bell's top center using the left arm.",
+    "Press down the top of the bell with metallic top and plastic base using the left arm.",
+    "Push the white bell's <top center> on the table",
+    "Click the small desk bell for tapping's <top center> using the left arm",
+    "Locate the bell shaped like half-circle dome and click its top center.",
+    "Press the top center of the bell shaped like half-circle dome on table.",
+    "Use the left arm to touch the white bell with black bottom's top center.",
+    "Tap the plastic and metal bell's top center with the left arm.",
+    "Tap the top center of the bell with black flat base.",
+    "Pinpoint the white and black colored bell and click its top center.",
+    "Direct the left arm to click the top of the bell shaped like half-circle dome.",
+    "Press the bell shaped like half-circle dome's top center on the table.",
+    "Guide the left arm to click the bell with metallic top and plastic base's top center.",
+    "Make the left arm interact with the rounded bell with flat black part's top center.",
+    "Push the center of the white bell using the left arm.",
+    "Have the left arm click at the small desk bell for tapping's top center.",
+    "Press the center of the bell with black flat base using the left arm."
+  ],
+  "unseen": [
+    "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.",
+    "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.",
+    "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 top center of the medium-sized bell.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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.",
+    "Click the top center of the smooth metal bell.",
+    "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 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 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.",
+    "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.",
+    "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 top center of the lightweight bell with smooth surface.",
+    "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.",
+    "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 top center of the lightweight bell with smooth surface.",
+    "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.",
+    "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 top center of the medium-sized 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 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 medium-sized bell's top center.",
+    "Click the top center of the medium-sized bell.",
+    "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.",
+    "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 smooth metal bell.",
+    "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 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.",
+    "Use the left arm to press the medium-sized bell's 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 lightweight bell with smooth surface'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 lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "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 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 lightweight bell with smooth surface's top center."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10006006.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10006006.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a5a6a612fc0cc668c56611489e3ae8766d3bcdf
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10006006.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the specified top area of the brown-bottomed bell.",
+    "Use the left arm to touch the metal bell with plastic parts's top center.",
+    "Ask the left arm to interact with the round bell's top.",
+    "Command the left arm to press the metal bell with plastic parts's top.",
+    "Pinpoint the flat-topped bell and click its top center.",
+    "Use the left arm to press the small blue and brown bell's top section.",
+    "Press down the top of the bell with brown base using the left arm.",
+    "Press down the metal bell with plastic parts's top center gently.",
+    "Click the smooth blue bell's <top center> using the left arm",
+    "Click the top center of the metal bell with plastic parts on table.",
+    "Locate the round bell and click its top center.",
+    "Click using the left arm on the bell with brown base's center.",
+    "Direct the left arm to touch the bell with brown base's top.",
+    "Have the left arm click at the compact bell with round base's top center.",
+    "Push the blue dome-shaped bell's <top center> on the table",
+    "Make the left arm interact with the smooth blue bell's top center.",
+    "Press the center of the smooth blue bell using the left arm.",
+    "Activate the bell with circular body by pressing its top center.",
+    "Tap the top center of the bell with brown base.",
+    "Press the bell with circular body's top center with the left arm firmly.",
+    "Click the designated center of the bell with circular body.",
+    "Press the center top of the flat-topped bell.",
+    "Click the bell with protruding knob at its top center on table.",
+    "Direct the left arm to click the top of the bell with brown base.",
+    "Click the smooth blue bell's top center using the left arm.",
+    "Press the flat-topped bell's top center on the table.",
+    "Tap the small blue and brown bell's top center with the left arm.",
+    "Tap the blue dome-shaped bell's top center with the left arm.",
+    "Push the center of the bell with protruding knob using the left arm.",
+    "Press the top center of the brown-bottomed bell on table.",
+    "Guide the left arm to click the compact bell with round base's top center.",
+    "Press the specified top area of the compact bell with round base.",
+    "Use the left arm to touch the round bell's top center.",
+    "Ask the left arm to interact with the bell with circular body's top.",
+    "Command the left arm to press the blue dome-shaped bell's top.",
+    "Pinpoint the smooth blue bell and click its top center.",
+    "Use the left arm to press the blue dome-shaped bell's top section.",
+    "Press down the top of the metal bell with plastic parts using the left arm.",
+    "Press down the bell with brown base's top center gently.",
+    "Click the round bell's <top center> using the left arm",
+    "Click the top center of the bell with circular body on table.",
+    "Locate the brown-bottomed bell and click its top center.",
+    "Click using the left arm on the compact bell with round base's center.",
+    "Direct the left arm to touch the bell with protruding knob's top.",
+    "Have the left arm click at the flat-topped bell's top center.",
+    "Push the small blue and brown bell's <top center> on the table",
+    "Make the left arm interact with the blue dome-shaped bell's top center.",
+    "Press the center of the brown-bottomed bell using the left arm.",
+    "Activate the bell with brown base by pressing its top center.",
+    "Tap the top center of the bell with brown base.",
+    "Press the blue bell's top center with the left arm firmly.",
+    "Click the designated center of the metal bell with plastic parts.",
+    "Press the center top of the brown-bottomed bell.",
+    "Click the compact bell with round base at its top center on table.",
+    "Direct the left arm to click the top of the round bell.",
+    "Click the smooth blue bell's top center using the left arm.",
+    "Press the small blue and brown bell's top center on the table.",
+    "Tap the round bell's top center with the left arm.",
+    "Tap the metal bell with plastic parts's top center with the left arm.",
+    "Push the center of the bell with brown base using the left arm.",
+    "Press the top center of the smooth blue bell on table.",
+    "Guide the left arm to click the bell with circular body's top center.",
+    "Press the specified top area of the bell with protruding knob.",
+    "Use the left arm to touch the bell with circular body's top center.",
+    "Ask the left arm to interact with the blue dome-shaped bell's top.",
+    "Command the left arm to press the small blue and brown bell's top.",
+    "Pinpoint the small blue and brown bell and click its top center.",
+    "Use the left arm to press the bell with protruding knob's top section.",
+    "Press down the top of the round bell using the left arm.",
+    "Press down the bell with brown base's top center gently.",
+    "Click the blue bell's <top center> using the left arm",
+    "Click the top center of the compact bell with round base on table.",
+    "Locate the small blue and brown bell and click its top center.",
+    "Click using the left arm on the brown-bottomed bell's center.",
+    "Direct the left arm to touch the smooth blue bell's top.",
+    "Have the left arm click at the bell with protruding knob's top center.",
+    "Push the blue bell's <top center> on the table",
+    "Make the left arm interact with the smooth blue bell's top center.",
+    "Press the center of the round bell using the left arm.",
+    "Activate the flat-topped bell by pressing its top center.",
+    "Tap the top center of the metal bell with plastic parts.",
+    "Press the blue bell's top center with the left arm firmly.",
+    "Click the designated center of the blue dome-shaped bell.",
+    "Press the center top of the bell with circular body.",
+    "Click the flat-topped bell at its top center on table.",
+    "Direct the left arm to click the top of the round bell.",
+    "Click the round bell's top center using the left arm.",
+    "Press the flat-topped bell's top center on the table.",
+    "Tap the metal bell with plastic parts's top center with the left arm.",
+    "Tap the brown-bottomed bell's top center with the left arm.",
+    "Push the center of the metal bell with plastic parts using the left arm.",
+    "Press the top center of the bell with circular body on table.",
+    "Guide the left arm to click the smooth blue bell's top center.",
+    "Press the specified top area of the brown-bottomed bell.",
+    "Use the left arm to touch the metal bell with plastic parts's top center.",
+    "Ask the left arm to interact with the brown-bottomed bell's top.",
+    "Command the left arm to press the blue bell's top.",
+    "Pinpoint the bell with circular body and click its top center.",
+    "Use the left arm to press the brown-bottomed bell's top section.",
+    "Press down the top of the compact bell with round base using the left arm."
+  ],
+  "unseen": [
+    "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.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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 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.",
+    "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 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 blue bell with glossy finish's top.",
+    "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.",
+    "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 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 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 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.",
+    "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 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 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 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 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 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "Use the left arm to press the blue bell with glossy finish's top center."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10006014.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10006014.json
new file mode 100644
index 0000000000000000000000000000000000000000..1428e704246e68999b1937a9977d27680f066c42
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10006014.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the bell with circular body's top center on the table.",
+    "Press the specified top area of the bell with protruding knob.",
+    "Press the top center of the round bell on table.",
+    "Push the bell with protruding knob's <top center> on the table",
+    "Command the left arm to press the compact bell with round base's top.",
+    "Press down the top of the round bell using the left arm.",
+    "Direct the left arm to click the top of the bell with circular body.",
+    "Press the center of the metal bell with plastic parts using the left arm.",
+    "Ask the left arm to interact with the blue bell's top.",
+    "Make the left arm interact with the compact bell with round base's top center.",
+    "Click the brown-bottomed bell's top center using the left arm.",
+    "Press the bell with brown base's top center with the left arm firmly.",
+    "Have the left arm click at the bell with brown base's top center.",
+    "Click using the left arm on the compact bell with round base's center.",
+    "Push the center of the metal bell with plastic parts using the left arm.",
+    "Activate the small blue and brown bell by pressing its top center.",
+    "Pinpoint the smooth blue bell and click its top center.",
+    "Locate the smooth blue bell and click its top center.",
+    "Click the designated center of the brown-bottomed bell.",
+    "Use the left arm to touch the flat-topped bell's top center.",
+    "Direct the left arm to touch the flat-topped bell's top.",
+    "Click the small blue and brown bell at its top center on table.",
+    "Tap the round bell's top center with the left arm.",
+    "Press down the bell with circular body's top center gently.",
+    "Tap the top center of the blue dome-shaped bell.",
+    "Click the compact bell with round base's <top center> using the left arm",
+    "Press the center top of the blue bell.",
+    "Click the top center of the bell with circular body on table.",
+    "Guide the left arm to click the compact bell with round base's top center.",
+    "Use the left arm to press the blue bell's top section.",
+    "Tap the metal bell with plastic parts's top center with the left arm.",
+    "Press the bell with brown base's top center on the table.",
+    "Press the specified top area of the bell with circular body.",
+    "Press the top center of the round bell on table.",
+    "Push the blue dome-shaped bell's <top center> on the table",
+    "Command the left arm to press the bell with protruding knob's top.",
+    "Press down the top of the bell with protruding knob using the left arm.",
+    "Direct the left arm to click the top of the blue bell.",
+    "Press the center of the bell with protruding knob using the left arm.",
+    "Ask the left arm to interact with the metal bell with plastic parts's top.",
+    "Make the left arm interact with the small blue and brown bell's top center.",
+    "Click the compact bell with round base's top center using the left arm.",
+    "Press the bell with circular body's top center with the left arm firmly.",
+    "Have the left arm click at the blue bell's top center.",
+    "Click using the left arm on the smooth blue bell's center.",
+    "Push the center of the bell with circular body using the left arm.",
+    "Activate the bell with protruding knob by pressing its top center.",
+    "Pinpoint the bell with circular body and click its top center.",
+    "Locate the round bell and click its top center.",
+    "Click the designated center of the small blue and brown bell.",
+    "Use the left arm to touch the small blue and brown bell's top center.",
+    "Direct the left arm to touch the blue dome-shaped bell's top.",
+    "Click the brown-bottomed bell at its top center on table.",
+    "Tap the flat-topped bell's top center with the left arm.",
+    "Press down the small blue and brown bell's top center gently.",
+    "Tap the top center of the round bell.",
+    "Click the small blue and brown bell's <top center> using the left arm",
+    "Press the center top of the compact bell with round base.",
+    "Click the top center of the bell with circular body on table.",
+    "Guide the left arm to click the round bell's top center.",
+    "Use the left arm to press the flat-topped bell's top section.",
+    "Tap the smooth blue bell's top center with the left arm.",
+    "Press the metal bell with plastic parts's top center on the table.",
+    "Press the specified top area of the compact bell with round base.",
+    "Press the top center of the brown-bottomed bell on table.",
+    "Push the round bell's <top center> on the table",
+    "Command the left arm to press the flat-topped bell's top.",
+    "Press down the top of the blue bell using the left arm.",
+    "Direct the left arm to click the top of the bell with brown base.",
+    "Press the center of the bell with circular body using the left arm.",
+    "Ask the left arm to interact with the smooth blue bell's top.",
+    "Make the left arm interact with the bell with circular body's top center.",
+    "Click the blue dome-shaped bell's top center using the left arm.",
+    "Press the compact bell with round base's top center with the left arm firmly.",
+    "Have the left arm click at the bell with brown base's top center.",
+    "Click using the left arm on the bell with circular body's center.",
+    "Push the center of the flat-topped bell using the left arm.",
+    "Activate the compact bell with round base by pressing its top center.",
+    "Pinpoint the flat-topped bell and click its top center.",
+    "Locate the small blue and brown bell and click its top center.",
+    "Click the designated center of the bell with brown base.",
+    "Use the left arm to touch the blue dome-shaped bell's top center.",
+    "Direct the left arm to touch the bell with circular body's top.",
+    "Click the compact bell with round base at its top center on table.",
+    "Tap the brown-bottomed bell's top center with the left arm.",
+    "Press down the bell with protruding knob's top center gently.",
+    "Tap the top center of the round bell.",
+    "Click the small blue and brown bell's <top center> using the left arm",
+    "Press the center top of the blue dome-shaped bell.",
+    "Click the top center of the flat-topped bell on table.",
+    "Guide the left arm to click the blue bell's top center.",
+    "Use the left arm to press the bell with brown base's top section.",
+    "Tap the compact bell with round base's top center with the left arm.",
+    "Press the compact bell with round base's top center on the table.",
+    "Press the specified top area of the blue bell.",
+    "Press the top center of the bell with brown base on table.",
+    "Push the compact bell with round base's <top center> on the table",
+    "Command the left arm to press the bell with protruding knob's top.",
+    "Press down the top of the blue dome-shaped bell using the left arm.",
+    "Direct the left arm to click the top of the compact bell with round base."
+  ],
+  "unseen": [
+    "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 palm-sized bell's top.",
+    "Use the left 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 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.",
+    "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 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 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 blue bell with glossy finish's 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.",
+    "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.",
+    "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 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 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 palm-sized bell's top center.",
+    "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 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 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.",
+    "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 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 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 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 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 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.",
+    "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 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.",
+    "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 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.",
+    "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.",
+    "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 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 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 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 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.",
+    "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 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."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10006016.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10006016.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ff2a1d34714dbdae8e370dffa737576e47e8588
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10006016.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Make the left arm interact with the white bell's top center.",
+    "Click the bell with metallic top and plastic base at its top center on table.",
+    "Press the center of the bell with metallic top and plastic base using the left arm.",
+    "Click the compact tabletop bell's <top center> using the left arm",
+    "Press the specified top area of the white bell.",
+    "Click the designated center of the white bell.",
+    "Press the center top of the simple hand bell with black stand.",
+    "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.",
+    "Click the white bell with black bottom's top center using the left arm.",
+    "Pinpoint the bell with metallic top and plastic base and click its top center.",
+    "Direct the left arm to touch the small desk bell for tapping's top.",
+    "Press the top center of the white dome bell on table.",
+    "Click the top center of the rounded bell with flat black part on table.",
+    "Press down the top of the white bell using the left arm.",
+    "Tap the simple hand bell with black stand's top center with the left arm.",
+    "Activate the compact tabletop bell by pressing its top center.",
+    "Use the left arm to touch the white bell's top center.",
+    "Locate the compact tabletop bell and click its top center.",
+    "Use the left arm to press the simple hand bell with black stand's top section.",
+    "Have the left arm click at the white bell's top center.",
+    "Direct the left arm to click the top of the white bell.",
+    "Press down the white bell with black bottom's top center gently.",
+    "Push the compact tabletop bell's <top center> on the table",
+    "Command the left arm to press the bell with metallic top and plastic base's top.",
+    "Ask the left arm to interact with the white bell with black bottom's top.",
+    "Tap the top center of the bell shaped like half-circle dome.",
+    "Tap the white bell's top center with the left arm.",
+    "Press 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 left arm firmly.",
+    "Click using the left arm on the compact tabletop bell's center.",
+    "Make the left arm interact with the rounded bell with flat black part's top center.",
+    "Click the white dome bell at its top center on table.",
+    "Press the center of the bell shaped like half-circle dome using the left arm.",
+    "Click the bell with metallic top and plastic base's <top center> using the left arm",
+    "Press the specified top area of the small desk bell for tapping.",
+    "Click the designated center of the bell shaped like half-circle dome.",
+    "Press the center top of the bell with metallic top and plastic base.",
+    "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.",
+    "Click the white dome bell's top center using the left arm.",
+    "Pinpoint the white bell and click its top center.",
+    "Direct the left arm to touch the small desk bell for tapping's top.",
+    "Press the top center of the simple hand bell with black stand on table.",
+    "Click the top center of the bell with black flat base on table.",
+    "Press down the top of the white bell with black bottom using the left arm.",
+    "Tap the white and black colored bell's top center with the left arm.",
+    "Activate the rounded bell with flat black part by pressing its top center.",
+    "Use the left arm to touch the white bell's top center.",
+    "Locate the white and black colored bell and click its top center.",
+    "Use the left arm to press the bell with black flat base's top section.",
+    "Have the left arm click at the white and black colored bell's top center.",
+    "Direct the left arm to click the top of the white dome bell.",
+    "Press down the compact tabletop bell's top center gently.",
+    "Push the small desk bell for tapping's <top center> on the table",
+    "Command the left arm to press the white bell with black bottom's top.",
+    "Ask the left arm to interact with the white bell's top.",
+    "Tap the top center of the white bell.",
+    "Tap the bell with black flat base's top center with the left arm.",
+    "Press the simple hand bell with black stand's top center on the table.",
+    "Press the bell shaped like half-circle dome's top center with the left arm firmly.",
+    "Click using the left arm on the white dome bell's center.",
+    "Make the left arm interact with the compact tabletop bell's top center.",
+    "Click the white bell at its top center on table.",
+    "Press the center of the white and black colored bell using the left arm.",
+    "Click the bell with black flat base's <top center> using the left arm",
+    "Press the specified top area of the simple hand bell with black stand.",
+    "Click the designated center of the white dome bell.",
+    "Press the center top of the bell with metallic top and plastic base.",
+    "Push the center of the white bell using the left arm.",
+    "Guide the left arm to click the bell with black flat base's top center.",
+    "Click the rounded bell with flat black part's top center using the left arm.",
+    "Pinpoint the white dome bell and click its top center.",
+    "Direct the left arm to touch the compact tabletop bell's top.",
+    "Press the top center of the white and black colored bell on table.",
+    "Click the top center of the plastic and metal bell on table.",
+    "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 white and black colored bell by pressing its top center.",
+    "Use the left arm to touch the bell shaped like half-circle dome's top center.",
+    "Locate the white bell with black bottom and click its top center.",
+    "Use the left arm to press the white bell with black bottom's top section.",
+    "Have the left arm click at the small desk bell for tapping's top center.",
+    "Direct the left arm to click the top of the simple hand bell with black stand.",
+    "Press down the white and black colored bell's top center gently.",
+    "Push the rounded bell with flat black part's <top center> on the table",
+    "Command the left arm to press the bell with black flat base's top.",
+    "Ask the left arm to interact with the bell with black flat base's top.",
+    "Tap the top center of the small desk bell for tapping.",
+    "Tap the white bell with black bottom's top center with the left arm.",
+    "Press the bell with metallic top and plastic base's top center on the table.",
+    "Press the small desk bell for tapping's top center with the left arm firmly.",
+    "Click using the left arm on the white bell's center.",
+    "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 at its top center on table.",
+    "Press the center of the white dome bell using the left arm.",
+    "Click the white dome bell's <top center> using the left arm",
+    "Press the specified top area of the compact tabletop bell.",
+    "Click the designated center of the bell shaped like half-circle dome.",
+    "Press the center top of the plastic and metal bell."
+  ],
+  "unseen": [
+    "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.",
+    "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.",
+    "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 lightweight bell with smooth surface's top.",
+    "Click the top center of the smooth metal 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.",
+    "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 lightweight bell with smooth surface's top.",
+    "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 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 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.",
+    "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.",
+    "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 lightweight bell with smooth surface's top.",
+    "Click the top center of the smooth metal bell.",
+    "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 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.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "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.",
+    "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 smooth metal bell's top.",
+    "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.",
+    "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.",
+    "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 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 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.",
+    "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 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 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.",
+    "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 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.",
+    "Direct the left arm to click the lightweight bell with smooth surface's top.",
+    "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.",
+    "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 medium-sized bell's top.",
+    "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 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.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "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.",
+    "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 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 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.",
+    "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."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10006145.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10006145.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a8559f21bd31fae16e11e13d50fa0e59856dc82
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10006145.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Press the top center of the smooth blue bell on table.",
+    "Press down the bell with brown base's top center gently.",
+    "Command the right arm to press the metal bell with plastic parts's top.",
+    "Make the right arm interact with the blue dome-shaped bell's top center.",
+    "Press the specified top area of the metal bell with plastic parts.",
+    "Click the top center of the bell with protruding knob on table.",
+    "Pinpoint the flat-topped bell and click its top center.",
+    "Push the brown-bottomed bell's <top center> on the table",
+    "Click the small blue and brown bell's <top center> using the right arm",
+    "Have the right arm click at the flat-topped bell's top center.",
+    "Locate the brown-bottomed bell and click its top center.",
+    "Tap the top center of the small blue and brown bell.",
+    "Click the smooth blue bell's top center using the right arm.",
+    "Activate the metal bell with plastic parts by pressing its top center.",
+    "Click the designated center of the compact bell with round base.",
+    "Tap the flat-topped bell's top center with the right arm.",
+    "Press the compact bell with round base's top center on the table.",
+    "Press the center top of the blue dome-shaped bell.",
+    "Press the round bell's top center with the right arm firmly.",
+    "Press down the top of the blue bell using the right arm.",
+    "Tap the bell with brown base's top center with the right arm.",
+    "Use the right arm to touch the smooth blue bell's top center.",
+    "Direct the right arm to touch the bell with protruding knob's top.",
+    "Click using the right arm on the metal bell with plastic parts's center.",
+    "Press the center of the round bell using the right arm.",
+    "Direct the right arm to click the top of the flat-topped bell.",
+    "Push the center of the blue dome-shaped bell using the right arm.",
+    "Click the bell with protruding knob at its top center on table.",
+    "Use the right arm to press the bell with protruding knob's top section.",
+    "Guide the right arm to click the round bell's top center.",
+    "Ask the right arm to interact with the brown-bottomed bell's top.",
+    "Press the top center of the blue bell on table.",
+    "Press down the blue bell's top center gently.",
+    "Command the right arm to press the small blue and brown bell's top.",
+    "Make the right arm interact with the bell with brown base's top center.",
+    "Press the specified top area of the bell with protruding knob.",
+    "Click the top center of the bell with protruding knob on table.",
+    "Pinpoint the small blue and brown bell and click its top center.",
+    "Push the flat-topped bell's <top center> on the table",
+    "Click the round bell's <top center> using the right arm",
+    "Have the right arm click at the blue bell's top center.",
+    "Locate the blue dome-shaped bell and click its top center.",
+    "Tap the top center of the blue dome-shaped bell.",
+    "Click the bell with circular body's top center using the right arm.",
+    "Activate the smooth blue bell by pressing its top center.",
+    "Click the designated center of the brown-bottomed bell.",
+    "Tap the round bell's top center with the right arm.",
+    "Press the bell with circular body's top center on the table.",
+    "Press the center top of the bell with protruding knob.",
+    "Press the round bell's top center with the right arm firmly.",
+    "Press down the top of the brown-bottomed bell using the right arm.",
+    "Tap the round bell's top center with the right arm.",
+    "Use the right arm to touch the flat-topped bell's top center.",
+    "Direct the right arm to touch the bell with circular body's top.",
+    "Click using the right arm on the smooth blue bell'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 smooth blue bell.",
+    "Push the center of the bell with circular body using the right arm.",
+    "Click the smooth blue bell at its top center on table.",
+    "Use the right arm to press the metal bell with plastic parts's top section.",
+    "Guide the right arm to click the round bell's top center.",
+    "Ask the right arm to interact with the small blue and brown bell's top.",
+    "Press the top center of the metal bell with plastic parts on table.",
+    "Press down the bell with brown base's top center gently.",
+    "Command the right arm to press the flat-topped bell's top.",
+    "Make the right arm interact with the blue bell's top center.",
+    "Press the specified top area of the brown-bottomed bell.",
+    "Click the top center of the bell with circular body on table.",
+    "Pinpoint the blue dome-shaped bell and click its top center.",
+    "Push the bell with protruding knob's <top center> on the table",
+    "Click the bell with brown base's <top center> using the right arm",
+    "Have the right arm click at the small blue and brown bell's top center.",
+    "Locate the flat-topped bell and click its top center.",
+    "Tap the top center of the small blue and brown bell.",
+    "Click the flat-topped bell's top center using the right arm.",
+    "Activate the compact bell with round base by pressing its top center.",
+    "Click the designated center of the compact bell with round base.",
+    "Tap the smooth blue bell's top center with the right arm.",
+    "Press the bell with brown base's top center on the table.",
+    "Press the center top of the bell with brown base.",
+    "Press the round bell's top center with the right arm firmly.",
+    "Press down the top of the round bell using the right arm.",
+    "Tap the blue bell's top center with the right arm.",
+    "Use the right arm to touch the smooth blue bell's top center.",
+    "Direct the right arm to touch the small blue and brown bell's top.",
+    "Click using the right arm on the bell with circular body's center.",
+    "Press the center of the bell with brown base using the right arm.",
+    "Direct the right arm to click the top of the compact bell with round base.",
+    "Push the center of the metal bell with plastic parts using the right arm.",
+    "Click the brown-bottomed bell at its top center on table.",
+    "Use the right arm to press the small blue and brown bell's top section.",
+    "Guide the right arm to click the brown-bottomed bell's top center.",
+    "Ask the right arm to interact with the round bell's top.",
+    "Press the top center of the bell with circular body on table.",
+    "Press down the flat-topped bell's top center gently.",
+    "Command the right arm to press the flat-topped bell's top.",
+    "Make the right arm interact with the bell with brown base's top center.",
+    "Press the specified top area of the metal bell with plastic parts.",
+    "Click the top center of the blue dome-shaped bell on table.",
+    "Pinpoint the compact bell with round base and click its top center."
+  ],
+  "unseen": [
+    "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.",
+    "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 blue bell with glossy finish'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.",
+    "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 palm-sized bell'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 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.",
+    "Direct the right arm to click the palm-sized bell's top.",
+    "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.",
+    "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.",
+    "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 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.",
+    "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 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 palm-sized bell'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.",
+    "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 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 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 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 blue bell with glossy finish.",
+    "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 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 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.",
+    "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.",
+    "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 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.",
+    "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 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 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 palm-sized bell'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 palm-sized bell'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 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 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 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 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.",
+    "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 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 blue bell with glossy finish.",
+    "Use the right arm to press the blue bell with glossy finish's top center."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10007004.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10007004.json
new file mode 100644
index 0000000000000000000000000000000000000000..95276795f8088445f50439b2e13fe91979c92a93
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10007004.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Command the right arm to press the white bell with black bottom's top.",
+    "Press down the top of the simple hand bell with black stand using the right arm.",
+    "Use the right arm to touch the white bell with black bottom's top center.",
+    "Activate the plastic and metal bell by pressing its top center.",
+    "Use the right arm to press the compact tabletop bell's top section.",
+    "Click the bell with black flat base at its top center on table.",
+    "Have the right arm click at the rounded bell with flat black part's top center.",
+    "Push the center of the small desk bell for tapping using the right arm.",
+    "Push the bell shaped like half-circle dome's <top center> on the table",
+    "Press the center top of the white bell.",
+    "Guide the right arm to click the small desk bell for tapping's top center.",
+    "Click the designated center of the simple hand bell with black stand.",
+    "Click the bell shaped like half-circle dome's <top center> using the right arm",
+    "Click using the right arm on the bell shaped like half-circle dome's center.",
+    "Tap the top center of the rounded bell with flat black part.",
+    "Locate the bell with metallic top and plastic base and click its top center.",
+    "Make the right arm interact with the white and black colored bell's top center.",
+    "Press the white dome bell's top center with the right arm firmly.",
+    "Press down the simple hand bell with black stand's top center gently.",
+    "Click the simple hand bell with black stand's top center using the right arm.",
+    "Direct the right arm to touch the bell with metallic top and plastic base's top.",
+    "Press the specified top area of the rounded bell with flat black part.",
+    "Tap the bell with black flat base's top center with the right arm.",
+    "Press the center of the simple hand bell with black stand using the right arm.",
+    "Tap the bell shaped like half-circle dome's top center with the right arm.",
+    "Pinpoint the white dome bell and click its top center.",
+    "Click the top center of the compact tabletop bell on table.",
+    "Direct the right arm to click the top of the white and black colored bell.",
+    "Press the bell with black flat base's top center on the table.",
+    "Ask the right arm to interact with the plastic and metal bell's top.",
+    "Press the top center of the simple hand bell with black stand on table.",
+    "Command the right arm to press the white dome bell's top.",
+    "Press down the top of the bell with metallic top and plastic base using the right arm.",
+    "Use the right arm to touch the white bell with black bottom's top center.",
+    "Activate the rounded bell with flat black part by pressing its top center.",
+    "Use the right arm to press the simple hand bell with black stand's top section.",
+    "Click the white bell at its top center on table.",
+    "Have the right arm click at the plastic and metal bell's top center.",
+    "Push the center of the bell with metallic top and plastic base using the right arm.",
+    "Push the white bell's <top center> on the table",
+    "Press the center top of the white bell with black bottom.",
+    "Guide the right arm to click the white and black colored bell's top center.",
+    "Click the designated center of the bell with metallic top and plastic base.",
+    "Click the compact tabletop bell's <top center> using the right arm",
+    "Click using the right arm on the compact tabletop bell's center.",
+    "Tap the top center of the compact tabletop bell.",
+    "Locate the simple hand bell with black stand and click its top center.",
+    "Make the right arm interact with the white and black colored bell's top center.",
+    "Press the bell with black flat base's top center with the right arm firmly.",
+    "Press down the plastic and metal bell's top center gently.",
+    "Click the white and black colored bell's top center using the right arm.",
+    "Direct the right arm to touch the bell shaped like half-circle dome's top.",
+    "Press the specified top area of the small desk bell for tapping.",
+    "Tap the white dome bell's top center with the right arm.",
+    "Press the center of the bell with black flat base using the right arm.",
+    "Tap the bell shaped like half-circle dome's top center with the right arm.",
+    "Pinpoint the white dome bell and click its top center.",
+    "Click the top center of the small desk bell for tapping on table.",
+    "Direct the right arm to click the top of the bell with metallic top and plastic base.",
+    "Press the bell with metallic top and plastic base's top center on the table.",
+    "Ask the right arm to interact with the white and black colored bell's top.",
+    "Press the top center of the small desk bell for tapping on table.",
+    "Command the right arm to press the white dome bell's top.",
+    "Press down the top of the white bell using the right arm.",
+    "Use the right arm to touch the simple hand bell with black stand's top center.",
+    "Activate the small desk bell for tapping by pressing its top center.",
+    "Use the right arm to press the compact tabletop bell's top section.",
+    "Click the bell with black flat base at its top center on table.",
+    "Have the right arm click at the compact tabletop bell's top center.",
+    "Push the center of the small desk bell for tapping using the right arm.",
+    "Push the bell with black flat base's <top center> on the table",
+    "Press the center top of the bell with black flat base.",
+    "Guide the right arm to click the white bell with black bottom's top center.",
+    "Click the designated center of the white bell.",
+    "Click the white and black colored bell's <top center> using the right arm",
+    "Click using the right arm on the compact tabletop bell's center.",
+    "Tap the top center of the white bell.",
+    "Locate the compact tabletop bell and click its top center.",
+    "Make the right arm interact with the small desk bell for tapping's top center.",
+    "Press the white and black colored bell's top center with the right arm firmly.",
+    "Press down the white bell's top center gently.",
+    "Click the rounded bell with flat black part's top center using the right arm.",
+    "Direct the right arm to touch the bell with metallic top and plastic base's top.",
+    "Press the specified top area of the white bell.",
+    "Tap the white bell's top center with the right arm.",
+    "Press the center of the small desk bell for tapping using the right arm.",
+    "Tap the white and black colored bell's top center with the right arm.",
+    "Pinpoint the white bell and click its top center.",
+    "Click the top center of the compact tabletop bell on table.",
+    "Direct the right arm to click the top of the rounded bell with flat black part.",
+    "Press the white dome bell's top center on the table.",
+    "Ask the right arm to interact with the small desk bell for tapping's top.",
+    "Press the top center of the bell with metallic top and plastic base on table.",
+    "Command the right arm to press the plastic and metal bell's top.",
+    "Press down the top of the simple hand bell with black stand using the right arm.",
+    "Use the right arm to touch the compact tabletop bell's top center.",
+    "Activate the white bell by pressing its top center.",
+    "Use the right arm to press the white bell with black bottom's top section.",
+    "Click the small desk bell for tapping at its top center on table.",
+    "Have the right arm click at the plastic and metal bell's top center."
+  ],
+  "unseen": [
+    "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.",
+    "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.",
+    "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 medium-sized bell and click its top center.",
+    "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.",
+    "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 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.",
+    "Click the medium-sized bell's top center on the table.",
+    "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 medium-sized 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.",
+    "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 smooth metal 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.",
+    "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.",
+    "Click the smooth metal bell's top center on the table.",
+    "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.",
+    "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.",
+    "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.",
+    "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 smooth metal bell and click its top center.",
+    "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.",
+    "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 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 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 smooth metal bell's top.",
+    "Click the medium-sized bell's top center on the table.",
+    "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 smooth metal bell and click its top center.",
+    "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.",
+    "Click the medium-sized bell'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.",
+    "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.",
+    "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.",
+    "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.",
+    "Click the medium-sized bell'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 smooth metal bell and click its top center.",
+    "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 smooth metal bell's top.",
+    "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 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 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 medium-sized bell's top.",
+    "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 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.",
+    "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.",
+    "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 lightweight bell with smooth surface's top center."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10007073.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10007073.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e0dc25a9efa7eea12299252babac62df4a16d75
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10007073.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Direct the right arm to touch the white bell's top.",
+    "Press the plastic and metal bell's top center on the table.",
+    "Press the center of the small desk bell for tapping using the right arm.",
+    "Press the simple hand bell with black stand's top center with the right arm firmly.",
+    "Click the compact tabletop bell's <top center> using the right arm",
+    "Use the right arm to press the bell with black flat base's top section.",
+    "Push the center of the compact tabletop bell using the right arm.",
+    "Tap the compact tabletop bell's top center with the right arm.",
+    "Have the right arm click at the bell with metallic top and plastic base's top center.",
+    "Click the top center of the bell shaped like half-circle dome on table.",
+    "Click using the right arm on the rounded bell with flat black part's center.",
+    "Command the right arm to press the white dome bell's top.",
+    "Push the plastic and metal bell's <top center> on the table",
+    "Press down the top of the bell shaped like half-circle dome using the right arm.",
+    "Guide the right arm to click the small desk bell for tapping'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 compact tabletop bell's top.",
+    "Click the white dome bell's top center using the right arm.",
+    "Press the center top of the rounded bell with flat black part.",
+    "Click the designated center of the bell with metallic top and plastic base.",
+    "Make the right arm interact with the rounded bell with flat black part's top center.",
+    "Press the specified top area of the simple hand bell with black stand.",
+    "Click the rounded bell with flat black part at its top center on table.",
+    "Activate the small desk bell for tapping by pressing its top center.",
+    "Pinpoint the simple hand bell with black stand and click its top center.",
+    "Tap the top center of the compact tabletop bell.",
+    "Press the top center of the bell with black flat base on table.",
+    "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 white bell.",
+    "Locate the white bell with black bottom and click its top center.",
+    "Press down the compact tabletop bell's top center gently.",
+    "Direct the right arm to touch the rounded bell with flat black part's top.",
+    "Press the white dome bell's top center on the table.",
+    "Press the center of the white and black colored bell using the right arm.",
+    "Press the plastic and metal bell's top center with the right arm firmly.",
+    "Click the white and black colored bell's <top center> using the right arm",
+    "Use the right arm to press the white bell with black bottom's top section.",
+    "Push the center of the bell with black flat base using the right arm.",
+    "Tap the white bell with black bottom's top center with the right arm.",
+    "Have the right arm click at the small desk bell for tapping's top center.",
+    "Click the top center of the simple hand bell with black stand on table.",
+    "Click using the right arm on the white bell's center.",
+    "Command the right arm to press the bell with black flat base's top.",
+    "Push the white bell's <top center> on the table",
+    "Press down the top of the bell with black flat base using the right arm.",
+    "Guide the right arm to click the white and black colored bell's top center.",
+    "Tap the white and black colored bell's top center with the right arm.",
+    "Ask the right arm to interact with the white bell with black bottom's top.",
+    "Click the white bell's top center using the right arm.",
+    "Press the center top of the rounded bell with flat black part.",
+    "Click the designated center of the compact tabletop bell.",
+    "Make the right arm interact with the rounded bell with flat black part's top center.",
+    "Press the specified top area of the bell with black flat base.",
+    "Click the white bell with black bottom at its top center on table.",
+    "Activate the white and black colored bell by pressing its top center.",
+    "Pinpoint the bell with black flat base and click its top center.",
+    "Tap the top center of the white dome bell.",
+    "Press the top center of the bell shaped like half-circle dome on table.",
+    "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 bell with metallic top and plastic base.",
+    "Locate the small desk bell for tapping and click its top center.",
+    "Press down the white and black colored bell's top center gently.",
+    "Direct the right arm to touch the rounded bell with flat black part's top.",
+    "Press the bell shaped like half-circle dome's top center on the table.",
+    "Press the center of the rounded bell with flat black part using the right arm.",
+    "Press the plastic and metal bell's top center with the right arm firmly.",
+    "Click the white bell's <top center> using the right arm",
+    "Use the right arm to press the bell shaped like half-circle dome's top section.",
+    "Push the center of the plastic and metal bell using the right arm.",
+    "Tap the bell with metallic top and plastic base's top center with the right arm.",
+    "Have the right arm click at the white bell's top center.",
+    "Click the top center of the white and black colored bell on table.",
+    "Click using the right arm on the white and black colored bell's center.",
+    "Command the right arm to press the white and black colored bell's top.",
+    "Push the plastic and metal bell's <top center> on the table",
+    "Press down the top of the plastic and metal bell using the right arm.",
+    "Guide the right arm to click the compact tabletop bell's top center.",
+    "Tap the white bell with black bottom's top center with the right arm.",
+    "Ask the right arm to interact with the white and black colored bell's top.",
+    "Click the plastic and metal bell's top center using the right arm.",
+    "Press the center top of the white dome bell.",
+    "Click the designated center of the bell shaped like half-circle dome.",
+    "Make the right arm interact with the white dome bell's top center.",
+    "Press the specified top area of the rounded bell with flat black part.",
+    "Click the compact tabletop bell at its top center on table.",
+    "Activate the small desk bell for tapping by pressing its top center.",
+    "Pinpoint the compact tabletop bell and click its top center.",
+    "Tap the top center of the plastic and metal bell.",
+    "Press the top center of the white dome bell on table.",
+    "Use the right arm to touch the bell with metallic top and plastic base's top center.",
+    "Direct the right arm to click the top of the small desk bell for tapping.",
+    "Locate the small desk bell for tapping and click its top center.",
+    "Press down the plastic and metal bell's top center gently.",
+    "Direct the right arm to touch the white and black colored bell's top.",
+    "Press the simple hand bell with black stand's top center on the table.",
+    "Press the center of the white and black colored bell using the right arm.",
+    "Press the white bell's top center with the right arm firmly.",
+    "Click the white bell with black bottom's <top center> using the right arm",
+    "Use the right arm to press the compact tabletop bell's top section.",
+    "Push the center of the bell shaped like half-circle dome using the right arm."
+  ],
+  "unseen": [
+    "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.",
+    "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 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 medium-sized bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "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 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 smooth metal bell's top center.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "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 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.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "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 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.",
+    "Click the lightweight bell with smooth surface's top center on the table.",
+    "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 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 lightweight bell with smooth surface's top center on the table.",
+    "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 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 lightweight bell with smooth surface's top center on the table.",
+    "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 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 lightweight bell with smooth surface's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "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 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 smooth metal 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.",
+    "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 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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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.",
+    "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 lightweight bell with smooth surface's top center on the table.",
+    "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 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 medium-sized bell's top center.",
+    "Click the medium-sized bell's top center on the table.",
+    "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 top center of the lightweight bell with smooth surface.",
+    "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.",
+    "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 lightweight bell with smooth surface'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."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10007085.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10007085.json
new file mode 100644
index 0000000000000000000000000000000000000000..9dc01cfb61aba64410ad487f198f0b3ac35f377a
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10007085.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to touch the plastic and metal bell's top center.",
+    "Click using the right arm on the bell shaped like half-circle dome's center.",
+    "Press the compact tabletop bell's top center on the table.",
+    "Activate the plastic and metal bell by pressing its top center.",
+    "Locate the bell shaped like half-circle dome and click its top center.",
+    "Press down the top of the bell with metallic top and plastic base using the right arm.",
+    "Use the right arm to press the compact tabletop bell's top section.",
+    "Click the top center of the small desk bell for tapping on table.",
+    "Press the center top of the bell shaped like half-circle dome.",
+    "Press down the white bell with black bottom's top center gently.",
+    "Click the bell with metallic top and plastic base's top center using the right arm.",
+    "Press the specified top area of the white bell with black bottom.",
+    "Command the right arm to press the simple hand bell with black stand's top.",
+    "Tap the bell with black flat base's top center with the right arm.",
+    "Direct the right arm to click the top of the white bell with black bottom.",
+    "Press the center of the bell with metallic top and plastic base using the right arm.",
+    "Ask the right arm to interact with the plastic and metal bell's top.",
+    "Guide the right arm to click the small desk bell for tapping's top center.",
+    "Push the center of the compact tabletop bell using the right arm.",
+    "Click the designated center of the white bell.",
+    "Have the right arm click at the white dome bell's top center.",
+    "Tap the top center of the simple hand bell with black stand.",
+    "Direct the right arm to touch the rounded bell with flat black part's top.",
+    "Press the bell with black flat base's top center with the right arm firmly.",
+    "Push the small desk bell for tapping's <top center> on the table",
+    "Make the right arm interact with the white bell with black bottom's top center.",
+    "Click the bell with black flat base at its top center on table.",
+    "Click the small desk bell for tapping's <top center> using the right arm",
+    "Pinpoint the white bell with black bottom and click its top center.",
+    "Press the top center of the plastic and metal bell on table.",
+    "Tap the white bell with black bottom's top center with the right arm.",
+    "Use the right arm to touch the white bell's top center.",
+    "Click using the right arm on the white and black colored bell's center.",
+    "Press the white bell with black bottom's top center on the table.",
+    "Activate the bell with black flat base by pressing its top center.",
+    "Locate the small desk bell for tapping and click its top center.",
+    "Press down the top of the rounded bell with flat black part using the right arm.",
+    "Use the right arm to press the bell with black flat base's top section.",
+    "Click the top center of the white bell on table.",
+    "Press the center top of the small desk bell for tapping.",
+    "Press down the simple hand bell with black stand's top center gently.",
+    "Click the white bell with black bottom's top center using the right arm.",
+    "Press the specified top area of the bell with black flat base.",
+    "Command the right arm to press the white dome bell's top.",
+    "Tap the compact tabletop bell's top center with the right arm.",
+    "Direct the right arm to click the top of the rounded bell with flat black part.",
+    "Press the center of the plastic and metal bell using the right arm.",
+    "Ask the right arm to interact with the plastic and metal bell's top.",
+    "Guide the right arm to click the simple hand bell with black stand's top center.",
+    "Push the center of the bell with metallic top and plastic base using the right arm.",
+    "Click the designated center of the bell with black flat base.",
+    "Have the right arm click at the white and black colored bell's top center.",
+    "Tap the top center of the bell shaped like half-circle dome.",
+    "Direct the right arm to touch the white bell's top.",
+    "Press the rounded bell with flat black part's top center with the right arm firmly.",
+    "Push the white and black colored bell's <top center> on the table",
+    "Make the right arm interact with the bell shaped like half-circle dome's top center.",
+    "Click the white dome bell at its top center on table.",
+    "Click the compact tabletop bell's <top center> using the right arm",
+    "Pinpoint the compact tabletop bell and click its top center.",
+    "Press the top center of the bell shaped like half-circle dome on table.",
+    "Tap the bell with black flat base's top center with the right arm.",
+    "Use the right arm to touch the white and black colored bell's top center.",
+    "Click using the right arm on the bell with metallic top and plastic base's center.",
+    "Press the simple hand bell with black stand's top center on the table.",
+    "Activate the simple hand bell with black stand by pressing its top center.",
+    "Locate the small desk bell for tapping and click its top center.",
+    "Press down the top of the white bell using the right arm.",
+    "Use the right arm to press the plastic and metal bell's top section.",
+    "Click the top center of the white and black colored bell on table.",
+    "Press the center top of the white bell.",
+    "Press down the white dome bell's top center gently.",
+    "Click the bell shaped like half-circle dome's top center using the right arm.",
+    "Press the specified top area of the white bell.",
+    "Command the right arm to press the compact tabletop bell's top.",
+    "Tap the plastic and metal bell's top center with the right arm.",
+    "Direct the right arm to click the top of the small desk bell for tapping.",
+    "Press the center of the bell with metallic top and plastic base using the right arm.",
+    "Ask the right arm to interact with the white dome bell's top.",
+    "Guide the right arm to click the rounded bell with flat black part's top center.",
+    "Push the center of the rounded bell with flat black part using the right arm.",
+    "Click the designated center of the simple hand bell with black stand.",
+    "Have the right arm click at the small desk bell for tapping's top center.",
+    "Tap the top center of the bell with black flat base.",
+    "Direct the right arm to touch the rounded bell with flat black part's top.",
+    "Press the white and black colored bell's top center with the right arm firmly.",
+    "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.",
+    "Click the rounded bell with flat black part at its top center on table.",
+    "Click the bell shaped like half-circle dome's <top center> using the right arm",
+    "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.",
+    "Tap the bell with metallic top and plastic base's top center with the right arm.",
+    "Use the right arm to touch the bell with metallic top and plastic base's top center.",
+    "Click using the right arm on the bell with black flat base's center.",
+    "Press the white dome bell's top center on the table.",
+    "Activate the bell with black flat base by pressing its top center.",
+    "Locate the simple hand bell with black stand and click its top center.",
+    "Press down the top of the small desk bell for tapping using the right arm.",
+    "Use the right arm to press the white dome bell's top section."
+  ],
+  "unseen": [
+    "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 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.",
+    "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.",
+    "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.",
+    "Click the top center of the medium-sized bell.",
+    "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 smooth metal 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.",
+    "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 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 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 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 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 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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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.",
+    "Use the right arm to press the smooth metal 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.",
+    "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.",
+    "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.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "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 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.",
+    "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.",
+    "Click the smooth metal bell's top center on the table.",
+    "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 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 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 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 lightweight bell with smooth surface'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 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.",
+    "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 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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10007098.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10007098.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2e9c4d3c74dbce0140d336270b7eedb3ed0e2b0
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10007098.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Direct the right arm to click the top of the rounded bell with flat black part.",
+    "Press the center of the white bell with black bottom using the right arm.",
+    "Click the designated center of the compact tabletop bell.",
+    "Tap the white and black colored bell's top center with the right arm.",
+    "Click the compact tabletop bell's top center using the right arm.",
+    "Tap the top center of the bell shaped like half-circle dome.",
+    "Click using the right arm on the compact tabletop bell's center.",
+    "Press the top center of the rounded bell with flat black part on table.",
+    "Command the right arm to press the bell with metallic top and plastic base's top.",
+    "Press the specified top area of the white bell.",
+    "Press the center top of the compact tabletop bell.",
+    "Tap the white bell's top center with the right arm.",
+    "Click the top center of the white and black colored bell on table.",
+    "Locate the plastic and metal bell and click its top center.",
+    "Press down the top of the white bell using the right arm.",
+    "Guide the right arm to click the simple hand bell with black stand's top center.",
+    "Direct the right arm to touch the bell with black flat base's top.",
+    "Pinpoint the white and black colored bell and click its top center.",
+    "Ask the right arm to interact with the white bell's top.",
+    "Use the right arm to touch the white bell with black bottom's top center.",
+    "Use the right arm to press the simple hand bell with black stand's top section.",
+    "Have the right arm click at the plastic and metal bell's top center.",
+    "Make the right arm interact with the plastic and metal bell's top center.",
+    "Press the small desk bell for tapping's top center with the right arm firmly.",
+    "Press down the white bell's top center gently.",
+    "Click the white bell's <top center> using the right arm",
+    "Activate the white and black colored bell by pressing its top center.",
+    "Press the white bell with black bottom's top center on the table.",
+    "Click the simple hand bell with black stand at its top center on table.",
+    "Push the center of the rounded bell with flat black part using the right arm.",
+    "Push the compact tabletop bell's <top center> on the table",
+    "Direct the right arm to click the top of the compact tabletop bell.",
+    "Press the center of the white and black colored bell using the right arm.",
+    "Click the designated center of the small desk bell for tapping.",
+    "Tap the simple hand bell with black stand's top center with the right arm.",
+    "Click the rounded bell with flat black part's top center using the right arm.",
+    "Tap the top center of the bell with black flat base.",
+    "Click using the right arm on the small desk bell for tapping's center.",
+    "Press the top center of the white bell on table.",
+    "Command the right arm to press the plastic and metal bell's top.",
+    "Press the specified top area of the bell shaped like half-circle dome.",
+    "Press the center top of the bell with black flat base.",
+    "Tap the rounded bell with flat black part's top center with the right arm.",
+    "Click the top center of the white bell on table.",
+    "Locate the white dome bell and click its top center.",
+    "Press down the top of the white bell using the right arm.",
+    "Guide the right arm to click the bell shaped like half-circle dome's top center.",
+    "Direct the right arm to touch the bell with metallic top and plastic base's top.",
+    "Pinpoint the bell with black flat base and click its top center.",
+    "Ask the right arm to interact with the white bell's top.",
+    "Use the right arm to touch the rounded bell with flat black part's top center.",
+    "Use the right arm to press the bell with black flat base's top section.",
+    "Have the right arm click at the white bell with black bottom's top center.",
+    "Make the right arm interact with the simple hand bell with black stand's top center.",
+    "Press the white and black colored bell's top center with the right arm firmly.",
+    "Press down the white bell with black bottom's top center gently.",
+    "Click the white bell with black bottom's <top center> using the right arm",
+    "Activate the bell with metallic top and plastic base by pressing its top center.",
+    "Press the white and black colored bell's top center on the table.",
+    "Click the small desk bell for tapping at its top center on table.",
+    "Push the center of the white bell with black bottom using the right arm.",
+    "Push the bell with metallic top and plastic base's <top center> on the table",
+    "Direct the right arm to click the top of the white dome bell.",
+    "Press the center of the bell with metallic top and plastic base using the right arm.",
+    "Click the designated center of the white bell.",
+    "Tap the small desk bell for tapping's top center with the right arm.",
+    "Click the white and black colored bell's top center using the right arm.",
+    "Tap the top center of the plastic and metal bell.",
+    "Click using the right arm on the small desk bell for tapping's center.",
+    "Press the top center of the white bell on table.",
+    "Command the right arm to press the white and black colored bell's top.",
+    "Press the specified top area of the white and black colored bell.",
+    "Press the center top of the plastic and metal bell.",
+    "Tap the bell shaped like half-circle dome's top center with the right arm.",
+    "Click the top center of the bell shaped like half-circle dome on table.",
+    "Locate the plastic and metal bell and click its top center.",
+    "Press down the top of the bell shaped like half-circle dome using the right arm.",
+    "Guide the right arm to click the white bell with black bottom's top center.",
+    "Direct the right arm to touch the white bell's top.",
+    "Pinpoint the white bell and click its top center.",
+    "Ask the right arm to interact with the white and black colored bell's top.",
+    "Use the right arm to touch the white dome bell's top center.",
+    "Use the right arm to press the compact tabletop bell's top section.",
+    "Have the right arm click at the simple hand bell with black stand's top center.",
+    "Make the right arm interact with the bell with metallic top and plastic base's top center.",
+    "Press the white dome bell's top center with the right arm firmly.",
+    "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",
+    "Activate the bell with black flat base by pressing its top center.",
+    "Press the bell shaped like half-circle dome's top center on the table.",
+    "Click the rounded bell with flat black part at its top center on table.",
+    "Push the center of the white bell using the right arm.",
+    "Push the white dome bell's <top center> on the table",
+    "Direct the right arm to click the top of the plastic and metal bell.",
+    "Press the center of the rounded bell with flat black part using the right arm.",
+    "Click the designated center of the bell with metallic top and plastic base.",
+    "Tap the bell shaped like half-circle dome's top center with the right arm.",
+    "Click the bell with metallic top and plastic base's top center using the right arm.",
+    "Tap the top center of the bell shaped like half-circle dome.",
+    "Click using the right arm on the bell shaped like half-circle dome's center."
+  ],
+  "unseen": [
+    "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.",
+    "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 top center of the smooth metal bell.",
+    "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 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.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "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 smooth metal 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.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "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.",
+    "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.",
+    "Click the top center of the medium-sized bell.",
+    "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.",
+    "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 medium-sized bell's top center.",
+    "Click the top center of the smooth metal bell.",
+    "Direct the right arm to click the smooth metal 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.",
+    "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 top center of the lightweight bell with smooth surface.",
+    "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 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.",
+    "Use the right arm to press the smooth metal bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "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.",
+    "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 top center of the smooth metal bell.",
+    "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 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.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "Direct the right arm to click the smooth metal bell's top.",
+    "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.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "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.",
+    "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.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "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 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.",
+    "Use the right arm to press the medium-sized bell's top center.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "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.",
+    "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 top center of the lightweight bell with smooth surface.",
+    "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 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.",
+    "Use the right arm to press the lightweight bell with smooth surface's top center.",
+    "Click the top center of the medium-sized bell.",
+    "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."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10007103.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10007103.json
new file mode 100644
index 0000000000000000000000000000000000000000..00c0aa2f32fdf71ad038ba07473f58a58d8e404c
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10007103.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Direct the left arm to touch the white bell's top.",
+    "Press down the top of the bell with metallic top and plastic base using the left arm.",
+    "Press the small desk bell for tapping's top center on the table.",
+    "Use the left arm to touch the bell with black flat base's top center.",
+    "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.",
+    "Have the left arm click at the bell shaped like half-circle dome's top center.",
+    "Tap the top center of the rounded bell with flat black part.",
+    "Push the compact tabletop bell's <top center> on the table",
+    "Ask the left arm to interact with the white dome bell's top.",
+    "Push the center of the white bell using the left arm.",
+    "Click the white and black colored bell at its top center on table.",
+    "Click the designated center of the white bell.",
+    "Guide the left arm to click the bell with black flat base's top center.",
+    "Press the center of the bell shaped like half-circle dome using the left arm.",
+    "Tap the small desk bell for tapping's top center with the left arm.",
+    "Use the left arm to press the plastic and metal bell's top section.",
+    "Click the top center of the plastic and metal bell on table.",
+    "Locate the rounded bell with flat black part and click its top center.",
+    "Command the left arm to press the plastic and metal bell's top.",
+    "Tap the white and black colored bell's top center with the left arm.",
+    "Press the top center of the compact tabletop bell on table.",
+    "Make the left arm interact with the white and black colored bell's top center.",
+    "Direct the left arm to click the top of the white bell.",
+    "Press the specified top area of the bell with metallic top and plastic base.",
+    "Click using the left arm on the plastic and metal bell's center.",
+    "Click the rounded bell with flat black part's <top center> using the left arm",
+    "Activate the simple hand bell with black stand by pressing its top center.",
+    "Press the bell with black flat base's top center with the left arm firmly.",
+    "Press the center top of the white dome bell.",
+    "Press down the white bell with black bottom's top center gently.",
+    "Direct the left arm to touch the white and black colored bell's top.",
+    "Press down the top of the bell with metallic top and plastic base using the left arm.",
+    "Press the small desk bell for tapping's top center on the table.",
+    "Use the left arm to touch the white bell with black bottom's top center.",
+    "Pinpoint the bell with black flat base and click its top center.",
+    "Click the bell with black flat base's top center using the left arm.",
+    "Have the left arm click at the small desk bell for tapping's top center.",
+    "Tap the top center of the bell shaped like half-circle dome.",
+    "Push the white dome bell's <top center> on the table",
+    "Ask the left arm to interact with the small desk bell for tapping's top.",
+    "Push the center of the compact tabletop bell using the left arm.",
+    "Click the white dome bell at its top center on table.",
+    "Click the designated center of the white dome bell.",
+    "Guide the left arm to click the white and black colored bell's top center.",
+    "Press the center of the white bell using the left arm.",
+    "Tap the white and black colored bell's top center with the left arm.",
+    "Use the left arm to press the white dome bell's top section.",
+    "Click the top center of the plastic and metal bell on table.",
+    "Locate the simple hand bell with black stand and click its top center.",
+    "Command the left arm to press the plastic and metal bell's top.",
+    "Tap the white bell's top center with the left arm.",
+    "Press the top center of the white dome bell on table.",
+    "Make the left arm interact with the white and black colored bell's top center.",
+    "Direct the left arm to click the top of the simple hand bell with black stand.",
+    "Press the specified top area of the bell with metallic top and plastic base.",
+    "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",
+    "Activate the white bell with black bottom by pressing its top center.",
+    "Press the white dome bell's top center with the left arm firmly.",
+    "Press the center top of the white dome bell.",
+    "Press down the plastic and metal bell's top center gently.",
+    "Direct the left arm to touch the simple hand bell with black stand's top.",
+    "Press down the top of the bell with black flat base using the left arm.",
+    "Press the bell with metallic top and plastic base's top center on the table.",
+    "Use the left arm to touch the white and black colored bell's top center.",
+    "Pinpoint the white bell with black bottom and click its top center.",
+    "Click the small desk bell for tapping's top center using the left arm.",
+    "Have the left arm click at the compact tabletop bell's top center.",
+    "Tap the top center of the compact tabletop bell.",
+    "Push the white bell's <top center> on the table",
+    "Ask the left arm to interact with the plastic and metal bell's top.",
+    "Push the center of the bell with black flat base using the left arm.",
+    "Click the white bell at its top center on table.",
+    "Click the designated center of the bell with metallic top and plastic base.",
+    "Guide the left arm to click the bell shaped like half-circle dome's top center.",
+    "Press the center of the bell with metallic top and plastic base using the left arm.",
+    "Tap the white dome bell's top center with the left arm.",
+    "Use the left arm to press the rounded bell with flat black part's top section.",
+    "Click the top center of the compact tabletop bell on table.",
+    "Locate the plastic and metal bell and click its top center.",
+    "Command the left arm to press the rounded bell with flat black part's top.",
+    "Tap the small desk bell for tapping's top center with the left arm.",
+    "Press the top center of the plastic and metal bell on table.",
+    "Make the left arm interact with the white bell with black bottom's top center.",
+    "Direct the left arm to click the top of the white and black colored bell.",
+    "Press the specified top area of the plastic and metal bell.",
+    "Click using the left arm on the plastic and metal bell's center.",
+    "Click the simple hand bell with black stand's <top center> using the left arm",
+    "Activate the plastic and metal bell by pressing its top center.",
+    "Press the white and black colored bell's top center with the left arm firmly.",
+    "Press the center top of the bell with black flat base.",
+    "Press down the plastic and metal bell's top center gently.",
+    "Direct the left arm to touch the white and black colored bell's top.",
+    "Press down the top of the compact tabletop bell using the left arm.",
+    "Press the white bell's top center on the table.",
+    "Use the left arm to touch the white and black colored bell's top center.",
+    "Pinpoint 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.",
+    "Have the left arm click at the rounded bell with flat black part's top center."
+  ],
+  "unseen": [
+    "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.",
+    "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 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 left arm to click the smooth metal bell's top.",
+    "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 smooth metal 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 medium-sized bell's top center on the table.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "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 lightweight bell with smooth surface'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 medium-sized bell's top center on the table.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "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 lightweight bell with smooth surface'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 left arm to click the medium-sized bell's top.",
+    "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 medium-sized bell'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 smooth metal bell's top center on the table.",
+    "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.",
+    "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 medium-sized bell and click its 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.",
+    "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 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 medium-sized bell's top center on the table.",
+    "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.",
+    "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 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 left arm to click the medium-sized bell's top.",
+    "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 lightweight bell with smooth surface's top center.",
+    "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 lightweight bell with smooth surface's top center on the table.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "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 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 medium-sized bell's top center on the table.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "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 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 lightweight bell with smooth surface's top center on the table.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "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 smooth metal bell's top center.",
+    "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 medium-sized bell's top center on the table.",
+    "Direct the left arm to click the smooth metal bell's top.",
+    "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 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 smooth metal bell's top center on the table.",
+    "Direct the left arm to click the medium-sized bell's top.",
+    "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 medium-sized bell'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 smooth metal bell's top center on the table.",
+    "Direct the left arm to click the medium-sized bell's top."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10007113.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10007113.json
new file mode 100644
index 0000000000000000000000000000000000000000..057ec00302699901bbd62f594d3e6e3989c140bb
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10007113.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Push the simple hand bell with black stand's <top center> on the table",
+    "Press down the top of the white dome bell using the left arm.",
+    "Ask the left arm to interact with the white and black colored bell's top.",
+    "Activate the white bell with black bottom by pressing its top center.",
+    "Press the white bell's top center on the table.",
+    "Push the center of the compact tabletop bell using the left arm.",
+    "Tap the white and black colored bell's top center with the left arm.",
+    "Press the center top of the rounded bell with flat black part.",
+    "Tap the white bell's top center with the left arm.",
+    "Guide the left arm to click the white bell with black bottom's top center.",
+    "Command the left arm to press the small desk bell for tapping's top.",
+    "Click the top center of the compact tabletop bell on table.",
+    "Click the white and black colored bell's top center using the left arm.",
+    "Press the center of the simple hand bell with black stand using the left arm.",
+    "Use the left arm to press the bell with metallic top and plastic base's top section.",
+    "Locate the compact tabletop bell and click its top center.",
+    "Use the left arm to touch the white and black colored bell's top center.",
+    "Click the rounded bell with flat black part at its top center on table.",
+    "Tap the top center of the plastic and metal bell.",
+    "Click the designated center of the bell with black flat base.",
+    "Click the rounded bell with flat black part's <top center> using the left arm",
+    "Press down the compact tabletop bell's top center gently.",
+    "Press the specified top area of the bell with metallic top and plastic base.",
+    "Direct the left arm to click the top of the simple hand bell with black stand.",
+    "Click using the left arm on the compact tabletop bell's center.",
+    "Make the left arm interact with the compact tabletop bell's top center.",
+    "Pinpoint the bell with metallic top and plastic base and click its top center.",
+    "Have the left arm click at the compact tabletop bell's top center.",
+    "Press the top center of the white dome bell on table.",
+    "Press the plastic and metal bell's top center with the left arm firmly.",
+    "Direct the left arm to touch the bell with black flat base's top.",
+    "Push the compact tabletop bell's <top center> on the table",
+    "Press down the top 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.",
+    "Activate the compact tabletop bell by pressing its top center.",
+    "Press the rounded bell with flat black part's top center on the table.",
+    "Push the center of the white bell with black bottom using the left arm.",
+    "Tap the plastic and metal bell's top center with the left arm.",
+    "Press the center top of the white dome bell.",
+    "Tap the white and black colored bell's top center with the left arm.",
+    "Guide the left arm to click the rounded bell with flat black part's top center.",
+    "Command the left arm to press the bell with metallic top and plastic base's top.",
+    "Click the top center of the bell with metallic top and plastic base on table.",
+    "Click the white bell with black bottom's top center using the left arm.",
+    "Press the center 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.",
+    "Locate the white bell and click its top center.",
+    "Use the left arm to touch the rounded bell with flat black part's top center.",
+    "Click the white bell with black bottom at its top center on table.",
+    "Tap the top center of the rounded bell with flat black part.",
+    "Click the designated center of the white bell with black bottom.",
+    "Click the small desk bell for tapping's <top center> using the left arm",
+    "Press down the compact tabletop bell's top center gently.",
+    "Press the specified top area of the plastic and metal bell.",
+    "Direct the left arm to click the top of the simple hand bell with black stand.",
+    "Click using the left arm on the bell shaped like half-circle dome's center.",
+    "Make the left arm interact with the white and black colored bell's top center.",
+    "Pinpoint the bell shaped like half-circle dome and click its top center.",
+    "Have the left arm click at the bell with black flat base's top center.",
+    "Press 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.",
+    "Direct the left arm to touch the bell with metallic top and plastic base's top.",
+    "Push the white bell's <top center> on the table",
+    "Press down the top of the white and black colored bell using the left arm.",
+    "Ask the left arm to interact with the plastic and metal bell's top.",
+    "Activate the rounded bell with flat black part by pressing its top center.",
+    "Press the white bell's top center on the table.",
+    "Push the center of the rounded bell with flat black part using the left arm.",
+    "Tap the small desk bell for tapping's top center with the left arm.",
+    "Press the center top of the bell shaped like half-circle dome.",
+    "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.",
+    "Command the left arm to press the simple hand bell with black stand's top.",
+    "Click the top center of the white bell with black bottom on table.",
+    "Click the plastic and metal bell's top center using the left arm.",
+    "Press the center of the bell with metallic top and plastic base using the left arm.",
+    "Use the left arm to press the bell shaped like half-circle dome's top section.",
+    "Locate the small desk bell for tapping and click its top center.",
+    "Use the left arm to touch the plastic and metal bell's top center.",
+    "Click the bell with black flat base at its top center on table.",
+    "Tap the top center of the plastic and metal bell.",
+    "Click the designated center of the white bell.",
+    "Click the compact tabletop bell's <top center> using the left arm",
+    "Press down the rounded bell with flat black part's top center gently.",
+    "Press the specified top area of the plastic and metal bell.",
+    "Direct the left arm to click the top of the white and black colored bell.",
+    "Click using the left arm on the white and black colored bell's center.",
+    "Make the left arm interact with the bell shaped like half-circle dome's top center.",
+    "Pinpoint the rounded bell with flat black part and click its top center.",
+    "Have the left arm click at the plastic and metal bell's top center.",
+    "Press the top center of the small desk bell for tapping on table.",
+    "Press the rounded bell with flat black part's top center with the left arm firmly.",
+    "Direct the left arm to touch the plastic and metal bell's top.",
+    "Push the simple hand bell with black stand's <top center> on the table",
+    "Press down the top of the bell with metallic top and plastic base using the left arm.",
+    "Ask the left arm to interact with the plastic and metal bell's top.",
+    "Activate the bell with metallic top and plastic base by pressing its top center.",
+    "Press the white dome bell's top center on the table.",
+    "Push the center of the rounded bell with flat black part using the left arm.",
+    "Tap the white bell with black bottom's top center with the left arm."
+  ],
+  "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.",
+    "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.",
+    "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 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.",
+    "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 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 smooth metal 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.",
+    "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 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 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.",
+    "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.",
+    "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.",
+    "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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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 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 lightweight bell with smooth surface.",
+    "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 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.",
+    "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.",
+    "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 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.",
+    "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 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.",
+    "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 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 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 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 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.",
+    "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 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.",
+    "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.",
+    "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 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 smooth metal 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."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10007137.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10007137.json
new file mode 100644
index 0000000000000000000000000000000000000000..b33971be5f83f1dfd54869962e848ade93ec2965
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10007137.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the white bell with black bottom at its top center on table.",
+    "Press the white and black colored bell's top center with the right arm firmly.",
+    "Use the right arm to touch the bell with metallic top and plastic base's top center.",
+    "Click the plastic and metal bell's top center using the right arm.",
+    "Locate the bell with metallic top and plastic base and click its top center.",
+    "Tap the top center of the white dome bell.",
+    "Ask the right arm to interact with the small desk bell for tapping's top.",
+    "Click the top center of the plastic and metal bell on table.",
+    "Push the white bell's <top center> on the table",
+    "Pinpoint the rounded bell with flat black part and click its top center.",
+    "Tap the compact tabletop bell's top center with the right arm.",
+    "Use the right arm to press the white bell's top section.",
+    "Press the center top of the white bell.",
+    "Direct the right arm to touch the white bell's top.",
+    "Activate the white bell by pressing its top center.",
+    "Tap the plastic and metal bell's top center with the right arm.",
+    "Press the center of the white bell with black bottom using the right arm.",
+    "Press down the top of the small desk bell for tapping using the right arm.",
+    "Press down the white bell with black bottom's top center gently.",
+    "Make the right arm interact with the small desk bell for tapping's top center.",
+    "Press the specified top area of the bell with black flat base.",
+    "Click the white bell's <top center> using the right arm",
+    "Click the designated center of the white bell with black bottom.",
+    "Command the right arm to press the white dome bell's top.",
+    "Press the bell with black flat base's top center on the table.",
+    "Push the center of the bell with black flat base using the right arm.",
+    "Click using the right arm on the bell shaped like half-circle dome's center.",
+    "Press the top center of the small desk bell for tapping on table.",
+    "Guide the right arm to click the plastic and metal bell's top center.",
+    "Direct the right arm to click the top of the rounded bell with flat black part.",
+    "Have the right arm click at the compact tabletop bell's top center.",
+    "Click the white and black colored bell at its top center on table.",
+    "Press the white bell's top center with the right arm firmly.",
+    "Use the right arm to touch the white bell with black bottom's top center.",
+    "Click the bell with metallic top and plastic base's top center using the right arm.",
+    "Locate the compact tabletop bell and click its top center.",
+    "Tap the top center of the bell with black flat base.",
+    "Ask the right arm to interact with the rounded bell with flat black part's top.",
+    "Click the top center of the white bell on table.",
+    "Push the white bell's <top center> on the table",
+    "Pinpoint the white and black colored bell and click its top center.",
+    "Tap the bell with black flat base's top center with the right arm.",
+    "Use the right arm to press the white and black colored bell's top section.",
+    "Press the center top of the white and black colored bell.",
+    "Direct the right arm to touch the bell with black flat base's top.",
+    "Activate the compact tabletop bell by pressing its top center.",
+    "Tap the white dome bell's top center with the right arm.",
+    "Press the center of the white dome bell using the right arm.",
+    "Press down the top of the rounded bell with flat black part using the right arm.",
+    "Press down the bell with black flat base's top center gently.",
+    "Make the right arm interact with the simple hand bell with black stand's top center.",
+    "Press the specified top area of the rounded bell with flat black part.",
+    "Click the small desk bell for tapping'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 bell with black flat base's top.",
+    "Press the white and black colored bell's top center on the table.",
+    "Push the center of the white bell using the right arm.",
+    "Click using the right arm on the rounded bell with flat black part's center.",
+    "Press the top center of the white bell on table.",
+    "Guide the right arm to click the white dome bell's top center.",
+    "Direct the right arm to click the top of the bell with black flat base.",
+    "Have the right arm click at the bell with metallic top and plastic base's top center.",
+    "Click the simple hand bell with black stand at its top center on table.",
+    "Press the plastic and metal bell's top center with the right arm firmly.",
+    "Use the right arm to touch the bell with metallic top and plastic base's top center.",
+    "Click the white bell with black bottom's top center using the right arm.",
+    "Locate the white bell with black bottom and click its top center.",
+    "Tap the top center of the white dome bell.",
+    "Ask the right arm to interact with the white dome bell's top.",
+    "Click the top center of the bell with metallic top and plastic base on table.",
+    "Push the bell with metallic top and plastic base's <top center> on the table",
+    "Pinpoint the small desk bell for tapping and click its top center.",
+    "Tap the bell shaped like half-circle dome's top center with the right arm.",
+    "Use the right arm to press the small desk bell for tapping's top section.",
+    "Press the center top of the plastic and metal bell.",
+    "Direct the right arm to touch the plastic and metal bell's top.",
+    "Activate the white dome bell by pressing its top center.",
+    "Tap the bell with metallic top and plastic base's top center with the right arm.",
+    "Press the center of the white and black colored bell using the right arm.",
+    "Press down the top of the plastic and metal bell using the right arm.",
+    "Press down the simple hand bell with black stand's top center gently.",
+    "Make the right arm interact with the simple hand bell with black stand's top center.",
+    "Press the specified top area of the compact tabletop bell.",
+    "Click the small desk bell for tapping's <top center> using the right arm",
+    "Click the designated center of the white bell.",
+    "Command the right arm to press the white and black colored bell's top.",
+    "Press 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 right arm.",
+    "Click using the right arm on the small desk bell for tapping's center.",
+    "Press the top center of the white dome bell on table.",
+    "Guide the right arm to click the compact tabletop bell's top center.",
+    "Direct the right arm to click the top of the bell shaped like half-circle dome.",
+    "Have the right arm click at the bell shaped like half-circle dome's top center.",
+    "Click the bell shaped like half-circle dome at its top center on table.",
+    "Press the plastic and metal bell's top center with the right arm firmly.",
+    "Use the right arm to touch the simple hand bell with black stand's top center.",
+    "Click the plastic and metal bell's top center using the right arm.",
+    "Locate the white and black colored bell and click its top center.",
+    "Tap the top center of the white and black colored bell.",
+    "Ask the right arm to interact with the white dome bell's top."
+  ],
+  "unseen": [
+    "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.",
+    "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 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 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 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 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.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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 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 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.",
+    "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 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 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.",
+    "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 top center of the lightweight bell with smooth surface.",
+    "Click the medium-sized bell's top center on the table.",
+    "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.",
+    "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 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 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.",
+    "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 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.",
+    "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.",
+    "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 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 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 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 top center of the lightweight bell with smooth surface.",
+    "Click the medium-sized bell's top center on the table.",
+    "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.",
+    "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 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.",
+    "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.",
+    "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 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 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.",
+    "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 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 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 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 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 medium-sized bell's top center.",
+    "Direct the right arm to click the smooth metal bell's top."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10008098.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10008098.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d08d7ebfb6f274f2b4819e156734bb1b7ca2997
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10008098.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pinpoint the smooth blue bell and click its top center.",
+    "Press the brown-bottomed bell's top center on the table.",
+    "Click the designated center of the flat-topped bell.",
+    "Press the center of the metal bell with plastic parts using the left arm.",
+    "Locate the metal bell with plastic parts and click its top center.",
+    "Push the center of the bell with circular body 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 compact bell with round base.",
+    "Click the smooth blue bell's <top center> using the left arm",
+    "Command the left arm to press the bell with protruding knob's top.",
+    "Press the bell with protruding knob's top center with the left arm firmly.",
+    "Press down the flat-topped bell's top center gently.",
+    "Press the top center of the bell with brown base on table.",
+    "Press the specified top area of the blue bell.",
+    "Have the left arm click at the bell with protruding knob's top center.",
+    "Ask the left arm to interact with the flat-topped bell's top.",
+    "Click using the left arm on the bell with circular body's center.",
+    "Press down the top of the bell with circular body using the left arm.",
+    "Click the blue dome-shaped bell at its top center on table.",
+    "Push the brown-bottomed bell's <top center> on the table",
+    "Use the left arm to touch the bell with protruding knob's top center.",
+    "Press the center top of the bell with circular body.",
+    "Direct the left arm to touch the small blue and brown bell's top.",
+    "Click the top center of the bell with circular body on table.",
+    "Use the left arm to press the bell with circular body's top section.",
+    "Tap the round bell's top center with the left arm.",
+    "Make the left arm interact with the brown-bottomed bell's top center.",
+    "Guide the left arm to click the brown-bottomed bell's top center.",
+    "Activate the small blue and brown bell by pressing its top center.",
+    "Tap the top center of the round bell.",
+    "Click the round bell's top center using the left arm.",
+    "Pinpoint the metal bell with plastic parts and click its top center.",
+    "Press the metal bell with plastic parts's top center on the table.",
+    "Click the designated center of the blue bell.",
+    "Press the center of the blue dome-shaped bell using the left arm.",
+    "Locate the bell with protruding knob and click its top center.",
+    "Push the center of the round bell using the left arm.",
+    "Tap the smooth blue bell's top center with the left arm.",
+    "Direct the left arm to click the top of the smooth blue bell.",
+    "Click the brown-bottomed bell's <top center> using the left arm",
+    "Command the left arm to press the compact bell with round base's top.",
+    "Press the blue dome-shaped bell's top center with the left arm firmly.",
+    "Press down the brown-bottomed bell's top center gently.",
+    "Press the top center of the flat-topped bell on table.",
+    "Press the specified top area of the blue bell.",
+    "Have the left arm click at the metal bell with plastic parts's top center.",
+    "Ask the left arm to interact with the smooth blue bell's top.",
+    "Click using the left arm on the round bell's center.",
+    "Press down the top of the blue bell using the left arm.",
+    "Click the bell with brown base at its top center on table.",
+    "Push the flat-topped bell's <top center> on the table",
+    "Use the left arm to touch the compact bell with round base's top center.",
+    "Press the center top of the bell with brown base.",
+    "Direct the left arm to touch the blue dome-shaped bell's top.",
+    "Click the top center of the blue bell on table.",
+    "Use the left arm to press the bell with protruding knob's top section.",
+    "Tap the bell with protruding knob's top center with the left arm.",
+    "Make the left arm interact with the bell with protruding knob's top center.",
+    "Guide the left arm to click the smooth blue bell's top center.",
+    "Activate the round bell by pressing its top center.",
+    "Tap the top center of the flat-topped bell.",
+    "Click the compact bell with round base's top center using the left arm.",
+    "Pinpoint the bell with circular body and click its top center.",
+    "Press the bell with circular body's top center on the table.",
+    "Click the designated center of the blue dome-shaped bell.",
+    "Press the center of the bell with circular body using the left arm.",
+    "Locate the compact bell with round base and click its top center.",
+    "Push the center of the metal bell with plastic parts using the left arm.",
+    "Tap the bell with brown base's top center with the left arm.",
+    "Direct the left arm to click the top of the compact bell with round base.",
+    "Click the round bell's <top center> using the left arm",
+    "Command the left arm to press the metal bell with plastic parts's top.",
+    "Press the blue dome-shaped bell's top center with the left arm firmly.",
+    "Press down the bell with brown base's top center gently.",
+    "Press the top center of the round bell on table.",
+    "Press the specified top area of the compact bell with round base.",
+    "Have the left arm click at the bell with circular body's top center.",
+    "Ask the left arm to interact with the brown-bottomed bell's top.",
+    "Click using the left arm on the blue dome-shaped bell's center.",
+    "Press down the top of the compact bell with round base using the left arm.",
+    "Click the brown-bottomed bell at its top center on table.",
+    "Push the smooth blue bell's <top center> on the table",
+    "Use the left arm to touch the flat-topped bell's top center.",
+    "Press the center top of the smooth blue bell.",
+    "Direct the left arm to touch the metal bell with plastic parts's top.",
+    "Click the top center of the blue bell on table.",
+    "Use the left arm to press the compact bell with round base's top section.",
+    "Tap the bell with protruding knob's top center with the left arm.",
+    "Make the left arm interact with the small blue and brown bell's top center.",
+    "Guide the left arm to click the blue bell's top center.",
+    "Activate the bell with circular body by pressing its top center.",
+    "Tap the top center of the round bell.",
+    "Click the small blue and brown bell's top center using the left arm.",
+    "Pinpoint the brown-bottomed bell and click its top center.",
+    "Press the blue bell's top center on the table.",
+    "Click the designated center of the flat-topped bell.",
+    "Press the center of the flat-topped bell using the left arm.",
+    "Locate the brown-bottomed bell and click its top center.",
+    "Push the center of the compact bell with round base using the left arm.",
+    "Tap the bell with protruding knob's top center with the left arm."
+  ],
+  "unseen": [
+    "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.",
+    "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 blue bell with glossy finish.",
+    "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.",
+    "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 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 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.",
+    "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 bell with raised round top'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 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 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 blue bell with glossy finish's top center.",
+    "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 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 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 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 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 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 palm-sized bell'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.",
+    "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 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 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 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.",
+    "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 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 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.",
+    "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 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.",
+    "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.",
+    "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 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 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.",
+    "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 bell with raised round top's top center.",
+    "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.",
+    "Use the left arm to press the blue bell with glossy finish's top center.",
+    "Click the top center of the palm-sized bell."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10008162.json b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10008162.json
new file mode 100644
index 0000000000000000000000000000000000000000..61e1302a763492fc12b08e59d79103cb10550eb8
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/click_bell/episode10008162.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Click the designated center of the white bell with black bottom.",
+    "Push the center of the plastic and metal bell using the left arm.",
+    "Locate the plastic and metal bell and click its top center.",
+    "Pinpoint the bell with metallic top and plastic base and click its top center.",
+    "Click the white bell's <top center> using the left arm",
+    "Click using the left arm on the compact tabletop bell's center.",
+    "Tap the top center of the bell with metallic top and plastic base.",
+    "Tap the compact tabletop bell's top center with the left arm.",
+    "Have the left arm click at the rounded bell with flat black part's top center.",
+    "Ask the left arm to interact with the compact tabletop bell's top.",
+    "Press the bell with black flat base's top center with the left arm firmly.",
+    "Click the white bell at its top center on table.",
+    "Direct the left arm to click the top of the rounded bell with flat black part.",
+    "Press down the top of the compact tabletop bell using the left arm.",
+    "Guide the left arm to click the simple hand bell with black stand's top center.",
+    "Press the top center of the small desk bell for tapping on table.",
+    "Press the center of the white dome bell using the left arm.",
+    "Activate the white bell with black bottom by pressing its top center.",
+    "Use the left arm to press the bell with black flat base's top section.",
+    "Press down the white bell's top center gently.",
+    "Use the left arm to touch the white bell with black bottom's top center.",
+    "Press the specified top area of the bell with metallic top and plastic base.",
+    "Command the left arm to press the white bell with black bottom's top.",
+    "Direct the left arm to touch the white bell with black bottom's top.",
+    "Press the small desk bell for tapping's top center on the table.",
+    "Tap the rounded bell with flat black part's top center with the left arm.",
+    "Click the simple hand bell with black stand's top center using the left arm.",
+    "Click the top center of the small desk bell for tapping on table.",
+    "Press the center top of the white and black colored bell.",
+    "Make the left arm interact with the compact tabletop bell's top center.",
+    "Push the white bell with black bottom's <top center> on the table",
+    "Click the designated center of the compact tabletop bell.",
+    "Push the center of the white bell with black bottom using the left arm.",
+    "Locate the small desk bell for tapping and click its top center.",
+    "Pinpoint the plastic and metal bell and click its top center.",
+    "Click the white bell with black bottom's <top center> using the left arm",
+    "Click using the left arm on the bell shaped like half-circle dome's center.",
+    "Tap the top center of the plastic and metal bell.",
+    "Tap the bell with metallic top and plastic base's top center with the left arm.",
+    "Have the left arm click at the simple hand bell with black stand's top center.",
+    "Ask the left arm to interact with the plastic and metal bell's top.",
+    "Press the bell shaped like half-circle dome's top center with the left arm firmly.",
+    "Click the white dome bell at its top center on table.",
+    "Direct the left arm to click the top of the bell with metallic top and plastic base.",
+    "Press down the top of the simple hand bell with black stand using the left arm.",
+    "Guide the left arm to click the white dome bell's top center.",
+    "Press the top center of the white dome bell on table.",
+    "Press the center of the rounded bell with flat black part using the left arm.",
+    "Activate the white dome bell by pressing its top center.",
+    "Use the left arm to press the white and black colored bell's top section.",
+    "Press down the white and black colored bell's top center gently.",
+    "Use the left arm to touch the bell with metallic top and plastic base's top center.",
+    "Press the specified top area of the white and black colored bell.",
+    "Command the left arm to press the simple hand bell with black stand's top.",
+    "Direct the left arm to touch the white bell's top.",
+    "Press the rounded bell with flat black part's top center on the table.",
+    "Tap the white dome bell's top center with the left arm.",
+    "Click the white dome bell's top center using the left arm.",
+    "Click the top center of the plastic and metal bell on table.",
+    "Press the center top of the bell shaped like half-circle dome.",
+    "Make the left arm interact with the compact tabletop bell's top center.",
+    "Push the white bell with black bottom's <top center> on the table",
+    "Click the designated center of the compact tabletop bell.",
+    "Push the center of the bell shaped like half-circle dome using the left arm.",
+    "Locate the white dome bell and click its top center.",
+    "Pinpoint the white and black colored bell and click its top center.",
+    "Click the white dome bell's <top center> using the left arm",
+    "Click using the left arm on the small desk bell for tapping's center.",
+    "Tap the top center of the plastic and metal bell.",
+    "Tap the small desk bell for tapping's top center with the left arm.",
+    "Have the left arm click at the plastic and metal bell's top center.",
+    "Ask the left arm to interact with the small desk bell for tapping's top.",
+    "Press the simple hand bell with black stand's top center with the left arm firmly.",
+    "Click the white bell at its top center on table.",
+    "Direct the left arm to click the top of the compact tabletop bell.",
+    "Press down the top of the white dome bell using the left arm.",
+    "Guide the left arm to click the white and black colored bell's top center.",
+    "Press the top center of the simple hand bell with black stand on table.",
+    "Press the center of the simple hand bell with black stand using the left arm.",
+    "Activate the small desk bell for tapping by pressing its top center.",
+    "Use the left arm to press the bell with metallic top and plastic base's top section.",
+    "Press down the bell with metallic top and plastic base's top center gently.",
+    "Use the left arm to touch the rounded bell with flat black part's top center.",
+    "Press the specified top area of the bell with black flat base.",
+    "Command the left arm to press the simple hand bell with black stand's top.",
+    "Direct the left arm to touch the plastic and metal bell's top.",
+    "Press the compact tabletop bell's top center on the table.",
+    "Tap the rounded bell with flat black part's top center with the left arm.",
+    "Click the white bell with black bottom's top center using the left arm.",
+    "Click the top center of the bell with black flat base on table.",
+    "Press the center top of the white bell.",
+    "Make the left arm interact with the white and black colored bell's top center.",
+    "Push the rounded bell with flat black part's <top center> on the table",
+    "Click the designated center of the small desk bell for tapping.",
+    "Push the center of the white dome bell using the left arm.",
+    "Locate the white bell and click its top center.",
+    "Pinpoint the rounded bell with flat black part and click its top center.",
+    "Click the white and black colored bell's <top center> using the left arm",
+    "Click using the left arm on the small desk bell for tapping's center.",
+    "Tap the top center of the compact tabletop bell."
+  ],
+  "unseen": [
+    "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.",
+    "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.",
+    "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 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.",
+    "Click the top center of the smooth metal bell.",
+    "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 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.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "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 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 smooth metal bell and click its top center.",
+    "Click the top center of the medium-sized bell.",
+    "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 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.",
+    "Find the lightweight bell with smooth surface and click its 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.",
+    "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.",
+    "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 top center of the smooth metal bell.",
+    "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 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.",
+    "Find the lightweight bell with smooth surface and click its top center.",
+    "Click the top center of the smooth metal bell.",
+    "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 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 lightweight bell with smooth surface and click its 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.",
+    "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 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.",
+    "Click the top center of the smooth metal bell.",
+    "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 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.",
+    "Click the top center of the smooth metal bell.",
+    "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 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 smooth metal bell and click its top center.",
+    "Click the top center of the medium-sized bell.",
+    "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 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.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "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 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.",
+    "Click the top center of the lightweight bell with smooth surface.",
+    "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.",
+    "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.",
+    "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."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10001057.json b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10001057.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f1572e62ff8b8556279e07a6ce5bd1a6c80a164
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10001057.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to pick up the compact box for playing cards and push it outward.",
+    "Grab the rectangular box for card storage using the right arm and move it outward.",
+    "Shift the box with cards inside outward by grabbing it with the right arm.",
+    "Shift the box holding playing cards off the table to the side.",
+    "Pick up the palm-sized box for playing cards and move it away.",
+    "Grab the cardboard playing cards box and shift it farther away from the table.",
+    "Take the box with cards inside and push it further away.",
+    "Pick the cardboard playing cards box and slide it further outward.",
+    "Pick up the playing cards box with gold text using the right arm and shift it outward.",
+    "Lift the black box with rectangular shape with the right arm and move it outward.",
+    "Grab the rectangle-shaped cards box using the right arm and push it outward.",
+    "Lift the smooth black cards container and set it away from the table.",
+    "Move the compact box for playing cards further outward after picking it up.",
+    "Pick the small black box with cards and move it outward from the table.",
+    "Using the right arm, lift the black playing cards box and move it outward.",
+    "Move the compact box for playing cards outward from the table.",
+    "Move the black box with rectangular shape away from its position on the table.",
+    "Lift the palm-sized box for playing cards and push it off the table.",
+    "Pick up the box with cards inside and shift it further outward.",
+    "Relocate the box with cards inside farther outward using the right arm.",
+    "Use the right arm to grab the palm-sized box for playing cards and move it aside.",
+    "Lift the black box with rectangular shape and slide it off the table.",
+    "Lift the cardboard playing cards box and shift it outward.",
+    "Pick up the playing cards box with gold text and move it farther outward.",
+    "Pick up the smooth black cards container with the right arm and place it outward.",
+    "Grab the black playing cards box and move it further away.",
+    "Lift the box with cards inside from the table and move it outward.",
+    "Use the right arm to pick the playing cards box with gold text and move it outward.",
+    "Use the right arm to grab the playing cards box with gold text and move it away.",
+    "Take the compact box for playing cards and place it beyond the table.",
+    "Take the rectangular box for card storage and move it away from the table.",
+    "Grab the box holding playing cards with the right arm and move it outward.",
+    "Grab the black box with rectangular shape and move it further outward.",
+    "Shift the box with cards inside outward after grabbing it.",
+    "Lift the compact box for playing cards and place it farther away with the right arm.",
+    "Lift the palm-sized box for playing cards and relocate it off the table.",
+    "Slide the playing cards box with gold text off the table outward.",
+    "Lift the black playing cards box using the right arm and transfer it outward.",
+    "Place the box with cards inside away from the table outward.",
+    "Grab the small black box with cards from the table and shift it outward.",
+    "Move the box holding playing cards off the table outward.",
+    "Take the playing cards box with gold text and place it further outward.",
+    "Grab the cardboard playing cards box and set it beyond the table.",
+    "Move the small black box with cards farther from the table using the right arm.",
+    "Use the right arm to pick the compact box for playing cards and shift it outward.",
+    "Pick up the compact box for playing cards and place it further away.",
+    "Grab the small black box with cards and take it away from the table.",
+    "With the right arm, pick up the cardboard playing cards box and slide it outward.",
+    "Pick the palm-sized box for playing cards from the table and shift it outward.",
+    "Use the right arm to pick up the playing cards box with gold text and move it.",
+    "Use the right arm to pick up the black playing cards box and push it outward.",
+    "Grab the playing cards box with gold text using the right arm and move it outward.",
+    "Shift the compact box for playing cards outward by grabbing it with the right arm.",
+    "Shift the box with cards inside off the table to the side.",
+    "Pick up the playing cards box with gold text and move it away.",
+    "Grab the playing cards box with gold text and shift it farther away from the table.",
+    "Take the compact box for playing cards and push it further away.",
+    "Pick the rectangle-shaped cards box and slide it further outward.",
+    "Pick up the black playing cards box using the right arm and shift it outward.",
+    "Lift the cardboard playing cards box with the right arm and move it outward.",
+    "Grab the small black box with cards using the right arm and push it outward.",
+    "Lift the playing cards box with gold text and set it away from the table.",
+    "Move the cardboard playing cards box further outward after picking it up.",
+    "Pick the rectangular box for card storage and move it outward from the table.",
+    "Using the right arm, lift the black playing cards box and move it outward.",
+    "Move the playing cards box with gold text outward from the table.",
+    "Move the rectangular box for card storage away from its position on the table.",
+    "Lift the rectangular box for card storage and push it off the table.",
+    "Pick up the smooth black cards container and shift it further outward.",
+    "Relocate the rectangle-shaped cards box farther outward using the right arm.",
+    "Use the right arm to grab the playing cards box with gold text and move it aside.",
+    "Lift the palm-sized box for playing cards and slide it off the table.",
+    "Lift the cardboard playing cards box and shift it outward.",
+    "Pick up the rectangular box for card storage and move it farther outward.",
+    "Pick up the rectangle-shaped cards box with the right arm and place it outward.",
+    "Grab the box with cards inside and move it further away.",
+    "Lift the small black box with cards from the table and move it outward.",
+    "Use the right arm to pick the playing cards box with gold text and move it outward.",
+    "Use the right arm to grab the rectangular box for card storage and move it away.",
+    "Take the box holding playing cards and place it beyond the table.",
+    "Take the box with cards inside and move it away from the table.",
+    "Grab the black box with rectangular shape with the right arm and move it outward.",
+    "Grab the rectangular box for card storage and move it further outward.",
+    "Shift the playing cards box with gold text outward after grabbing it.",
+    "Lift the smooth black cards container and place it farther away with the right arm.",
+    "Lift the compact box for playing cards and relocate it off the table.",
+    "Slide the small black box with cards off the table outward.",
+    "Lift the black playing cards box using the right arm and transfer it outward.",
+    "Place the box with cards inside away from the table outward.",
+    "Grab the small black box with cards from the table and shift it outward.",
+    "Move the palm-sized box for playing cards off the table outward.",
+    "Take the black playing cards box and place it further outward.",
+    "Grab the black box with rectangular shape and set it beyond the table.",
+    "Move the rectangular box for card storage farther from the table using the right arm.",
+    "Use the right arm to pick the black box with rectangular shape and shift it outward.",
+    "Pick up the box with cards inside and place it further away.",
+    "Grab the compact box for playing cards and take it away from the table.",
+    "With the right arm, pick up the box with cards inside and slide it outward.",
+    "Pick the palm-sized box for playing cards from the table and shift it outward.",
+    "Use the right arm to pick up the smooth black cards container and move it."
+  ],
+  "unseen": [
+    "Lift the gold text on playing cards box from the table and shift it.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Use the right arm to grab the black box with smooth surface and move it outward.",
+    "Use the right arm to grab the gold text on playing cards box and relocate it.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Grab the hard black box for card deck and move it off the table.",
+    "Pick up the gold text on playing cards box and shift it outward.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Grab the gold text on playing cards box and move it outward.",
+    "Lift the hard black box for card deck from the table and shift it.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Use the right arm to grab the black box with smooth surface and move it outward.",
+    "Use the right arm to grab the gold text on playing cards box and relocate it.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Grab the gold text on playing cards box and move it off the table.",
+    "Pick up the gold text on playing cards box and shift it outward.",
+    "Use the right arm to grab the hard black box for card deck and relocate it.",
+    "Grab the gold text on playing cards box and move it outward.",
+    "Lift the black box with smooth surface from the table and shift it.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Use the right arm to grab the gold text on playing cards box and move it outward.",
+    "Use the right arm to grab the hard black box for card deck and relocate it.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Grab the gold text on playing cards box and move it off the table.",
+    "Pick up the gold text on playing cards box and shift it outward.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Grab the hard black box for card deck and move it outward.",
+    "Lift the black box with smooth surface from the table and shift it.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Use the right arm to grab the black box with smooth surface and move it outward.",
+    "Use the right arm to grab the gold text on playing cards box and relocate it.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Grab the black box with smooth surface and move it off the table.",
+    "Pick up the black box with smooth surface and shift it outward.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Grab the black box with smooth surface and move it outward.",
+    "Lift the gold text on playing cards box from the table and shift it.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Use the right arm to grab the black box with smooth surface and move it outward.",
+    "Use the right arm to grab the gold text on playing cards box and relocate it.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Grab the black box with smooth surface and move it off the table.",
+    "Pick up the gold text on playing cards box and shift it outward.",
+    "Use the right arm to grab the gold text on playing cards box and relocate it.",
+    "Grab the black box with smooth surface and move it outward.",
+    "Lift the black box with smooth surface from the table and shift it.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Use the right arm to grab the gold text on playing cards box and move it outward.",
+    "Use the right arm to grab the hard black box for card deck and relocate it.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Grab the hard black box for card deck and move it off the table.",
+    "Pick up the black box with smooth surface and shift it outward.",
+    "Use the right arm to grab the hard black box for card deck and relocate it.",
+    "Grab the hard black box for card deck and move it outward.",
+    "Lift the gold text on playing cards box from the table and shift it.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Use the right arm to grab the black box with smooth surface and move it outward.",
+    "Use the right arm to grab the gold text on playing cards box and relocate it.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Grab the hard black box for card deck and move it off the table.",
+    "Pick up the hard black box for card deck and shift it outward.",
+    "Use the right arm to grab the gold text on playing cards box and relocate it.",
+    "Grab the black box with smooth surface and move it outward.",
+    "Lift the gold text on playing cards box from the table and shift it.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Use the right arm to grab the black box with smooth surface and move it outward.",
+    "Use the right arm to grab the hard black box for card deck and relocate it.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Grab the hard black box for card deck and move it off the table.",
+    "Pick up the black box with smooth surface and shift it outward.",
+    "Use the right arm to grab the gold text on playing cards box and relocate it.",
+    "Grab the hard black box for card deck and move it outward.",
+    "Lift the hard black box for card deck from the table and shift it.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Use the right arm to grab the gold text on playing cards box and move it outward.",
+    "Use the right arm to grab the hard black box for card deck and relocate it.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Grab the black box with smooth surface and move it off the table.",
+    "Pick up the black box with smooth surface and shift it outward.",
+    "Use the right arm to grab the gold text on playing cards box and relocate it.",
+    "Grab the black box with smooth surface and move it outward.",
+    "Lift the black box with smooth surface from the table and shift it.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Use the right arm to grab the hard black box for card deck and move it outward.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Grab the hard black box for card deck and move it off the table.",
+    "Pick up the hard black box for card deck and shift it outward.",
+    "Use the right arm to grab the hard black box for card deck and relocate it.",
+    "Grab the gold text on playing cards box and move it outward."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10001060.json b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10001060.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fc49dc83ebec71055c7432c44ed751a3cdc956c
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10001060.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the box for playingcards and move it further away.",
+    "Use the left arm to pick up the playingcards storage box and push it outward.",
+    "Place the compact red playingcards pack away from the table outward.",
+    "Lift the glossy rectangular playingcards box from the table and move it outward.",
+    "Move the rectangular playingcards case away from its position on the table.",
+    "Lift the hand-sized playingcards container with the left arm and move it outward.",
+    "Use the left arm to grab the smooth playingcards pack and move it away.",
+    "Using the left arm, lift the red and yellow playingcards case and move it outward.",
+    "Grab the small playingcards pack and set it beyond the table.",
+    "Use the left arm to grab the box for playingcards and move it aside.",
+    "Use the left arm to pick the playingcards storage box and move it outward.",
+    "Shift the playingcards storage box outward by grabbing it with the left arm.",
+    "Pick the small playingcards pack and slide it further outward.",
+    "Lift the smooth playingcards pack and slide it off the table.",
+    "Use the left arm to pick up the small playingcards pack and move it.",
+    "Lift the compact red playingcards pack and shift it outward.",
+    "Take the red and yellow playingcards case and place it further outward.",
+    "Shift the playingcards storage box outward after grabbing it.",
+    "Shift the playingcards box with white accents off the table to the side.",
+    "Relocate the hand-sized playingcards container farther outward using the left arm.",
+    "Grab the smooth playingcards pack using the left arm and move it outward.",
+    "Take the compact red playingcards pack and push it further away.",
+    "Lift the yellow and red playingcards box and push it off the table.",
+    "Lift the compact red playingcards pack and set it away from the table.",
+    "With the left arm, pick up the red and yellow playingcards case and slide it outward.",
+    "Grab the small playingcards pack with the left arm and move it outward.",
+    "Grab the box for playingcards and move it further outward.",
+    "Pick up the playingcards storage box and place it further away.",
+    "Lift the small playingcards pack and relocate it off the table.",
+    "Move the rectangular playingcards case outward from the table.",
+    "Grab the hand-sized playingcards container using the left arm and push it outward.",
+    "Move the hand-sized playingcards container further outward after picking it up.",
+    "Pick the smooth playingcards pack and move it outward from the table.",
+    "Pick up the hand-sized playingcards container and move it farther outward.",
+    "Pick the playingcards box with white accents from the table and shift it outward.",
+    "Pick up the red and yellow playingcards case and shift it further outward.",
+    "Lift the compact red playingcards pack using the left arm and transfer it outward.",
+    "Take the playingcards storage box and place it beyond the table.",
+    "Move the small playingcards pack off the table outward.",
+    "Pick up the playingcards storage box and move it away.",
+    "Grab the playingcards storage box and take it away from the table.",
+    "Pick up the box for playingcards with the left arm and place it outward.",
+    "Move the smooth playingcards pack farther from the table using the left arm.",
+    "Lift the compact red playingcards pack and place it farther away with the left arm.",
+    "Pick up the playingcards storage box using the left arm and shift it outward.",
+    "Slide the yellow and red playingcards box off the table outward.",
+    "Take the rectangular playingcards case and move it away from the table.",
+    "Use the left arm to pick the playingcards storage box and shift it outward.",
+    "Grab the small playingcards pack from the table and shift it outward.",
+    "Grab the playingcards storage box and shift it farther away from the table.",
+    "Grab the red and yellow playingcards case and move it further away.",
+    "Use the left arm to pick up the rectangular playingcards case and push it outward.",
+    "Place the glossy rectangular playingcards box away from the table outward.",
+    "Lift the playingcards storage box from the table and move it outward.",
+    "Move the compact red playingcards pack away from its position on the table.",
+    "Lift the playingcards storage box with the left arm and move it outward.",
+    "Use the left arm to grab the small playingcards pack and move it away.",
+    "Using the left arm, lift the hand-sized playingcards container and move it outward.",
+    "Grab the box for playingcards and set it beyond the table.",
+    "Use the left arm to grab the smooth playingcards pack and move it aside.",
+    "Use the left arm to pick the red playingcards box and move it outward.",
+    "Shift the playingcards storage box outward by grabbing it with the left arm.",
+    "Pick the glossy rectangular playingcards box and slide it further outward.",
+    "Lift the compact red playingcards pack and slide it off the table.",
+    "Use the left arm to pick up the small playingcards pack and move it.",
+    "Lift the compact red playingcards pack and shift it outward.",
+    "Take the red and yellow playingcards case and place it further outward.",
+    "Shift the hand-sized playingcards container outward after grabbing it.",
+    "Shift the box for playingcards off the table to the side.",
+    "Relocate the compact red playingcards pack farther outward using the left arm.",
+    "Grab the compact red playingcards pack using the left arm and move it outward.",
+    "Take the hand-sized playingcards container and push it further away.",
+    "Lift the hand-sized playingcards container and push it off the table.",
+    "Lift the playingcards box with white accents and set it away from the table.",
+    "With the left arm, pick up the small playingcards pack and slide it outward.",
+    "Grab the yellow and red playingcards box with the left arm and move it outward.",
+    "Grab the compact red playingcards pack and move it further outward.",
+    "Pick up the red and yellow playingcards case and place it further away.",
+    "Lift the red and yellow playingcards case and relocate it off the table.",
+    "Move the red playingcards box outward from the table.",
+    "Grab the rectangular playingcards case using the left arm and push it outward.",
+    "Move the red and yellow playingcards case further outward after picking it up.",
+    "Pick the hand-sized playingcards container and move it outward from the table.",
+    "Pick up the yellow and red playingcards box and move it farther outward.",
+    "Pick the playingcards storage box from the table and shift it outward.",
+    "Pick up the box for playingcards and shift it further outward.",
+    "Lift the smooth playingcards pack using the left arm and transfer it outward.",
+    "Take the smooth playingcards pack and place it beyond the table.",
+    "Move the small playingcards pack off the table outward.",
+    "Pick up the playingcards box with white accents and move it away.",
+    "Grab the small playingcards pack and take it away from the table.",
+    "Pick up the playingcards storage box with the left arm and place it outward.",
+    "Move the playingcards storage box farther from the table using the left arm.",
+    "Lift the small playingcards pack and place it farther away with the left arm.",
+    "Pick up the rectangular playingcards case using the left arm and shift it outward.",
+    "Slide the glossy rectangular playingcards box off the table outward.",
+    "Take the playingcards box with white accents and move it away from the table.",
+    "Use the left arm to pick the glossy rectangular playingcards box and shift it outward.",
+    "Grab the glossy rectangular playingcards box from the table and shift it outward.",
+    "Grab the smooth playingcards pack and shift it farther away from the table."
+  ],
+  "unseen": [
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Use the left arm to grab the playingcards with red packaging and move it outward.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Use the left arm to grab the small box for playingcards and relocate it.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Grab the small box for playingcards and move it outward.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Use the left arm to grab the small box for playingcards and move it outward.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Grab the small box for playingcards and move it outward.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Use the left arm to grab the rectangular red playingcards holder and move it outward.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Use the left arm to grab the small box for playingcards and relocate it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Grab the small box for playingcards and move it outward.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Use the left arm to grab the rectangular red playingcards holder and move it outward.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Grab the small box for playingcards and move it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Use the left arm to grab the playingcards with red packaging and move it outward.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Grab the small box for playingcards and move it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Use the left arm to grab the small box for playingcards and move it outward.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Use the left arm to grab the small box for playingcards and relocate it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Use the left arm to grab the small box for playingcards and move it outward.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Use the left arm to grab the small box for playingcards and relocate it.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Use the left arm to grab the playingcards with red packaging and move it outward.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Use the left arm to grab the small box for playingcards and move it outward.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Use the left arm to grab the playingcards with red packaging and move it outward.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the small box for playingcards and move it outward."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10001086.json b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10001086.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d5f15e5232bbe69ec6cb59194e1ed9583925d47
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10001086.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the blue playingcards box and place it beyond the table.",
+    "Grab the blue and white playingcards packaging from the table and shift it outward.",
+    "Take the small playingcards container and push it further away.",
+    "Lift the blue pack holding playingcards and slide it off the table.",
+    "Pick up the blue carton for playingcards and move it farther outward.",
+    "Grab the card box with golden designs with the left arm and move it outward.",
+    "Place the playingcards box with white symbols away from the table outward.",
+    "Grab the blue and white playingcards packaging using the left arm and move it outward.",
+    "Lift the blue playingcards box from the table and move it outward.",
+    "Lift the blue and white playingcards packaging and relocate it off the table.",
+    "Lift the palm-sized playingcards carton and push it off the table.",
+    "Lift the blue playingcards box and shift it outward.",
+    "Move the card box with golden designs further outward after picking it up.",
+    "Move the small playingcards container away from its position on the table.",
+    "Pick up the palm-sized playingcards carton and shift it further outward.",
+    "Use the left arm to pick up the smooth playingcards holder and move it.",
+    "Grab the playingcards box with white symbols and move it further away.",
+    "Grab the rectangular blue playingcards case and shift it farther away from the table.",
+    "Slide the blue and white playingcards packaging off the table outward.",
+    "Lift the small playingcards container and place it farther away with the left arm.",
+    "Pick the blue carton for playingcards and move it outward from the table.",
+    "Shift the card box with golden designs off the table to the side.",
+    "Shift the playingcards pack with blue top outward by grabbing it with the left arm.",
+    "Use the left arm to grab the playingcards box with white symbols and move it aside.",
+    "Lift the playingcards pack with blue top with the left arm and move it outward.",
+    "Take the blue pack holding playingcards and place it further outward.",
+    "Use the left arm to pick the box of playingcards and shift it outward.",
+    "Take the card box with golden designs and move it away from the table.",
+    "Pick up the rectangular blue playingcards case and move it away.",
+    "Using the left arm, lift the smooth playingcards holder and move it outward.",
+    "Move the card box with golden designs outward from the table.",
+    "Pick up the playingcards pack with blue top using the left arm and shift it outward.",
+    "Move the box of playingcards farther from the table using the left arm.",
+    "Relocate the blue pack holding playingcards farther outward using the left arm.",
+    "Pick the blue playingcards box from the table and shift it outward.",
+    "Use the left arm to pick up the blue pack holding playingcards and push it outward.",
+    "Grab the blue and white playingcards packaging and set it beyond the table.",
+    "Pick up the blue carton for playingcards and place it further away.",
+    "Grab the box of playingcards and take it away from the table.",
+    "Pick the blue playingcards box and slide it further outward.",
+    "Use the left arm to grab the playingcards box with white symbols and move it away.",
+    "Move the blue and white playingcards packaging off the table outward.",
+    "Shift the blue playingcards box outward after grabbing it.",
+    "Grab the box of playingcards and move it further outward.",
+    "Grab the rectangular blue playingcards case using the left arm and push it outward.",
+    "Lift the palm-sized playingcards carton and set it away from the table.",
+    "Use the left arm to pick the box of playingcards and move it outward.",
+    "Lift the blue carton for playingcards using the left arm and transfer it outward.",
+    "Pick up the blue and white playingcards packaging with the left arm and place it outward.",
+    "With the left arm, pick up the blue and white playingcards packaging and slide it outward.",
+    "Take the playingcards pack with blue top and place it beyond the table.",
+    "Grab the blue and white playingcards packaging from the table and shift it outward.",
+    "Take the smooth playingcards holder and push it further away.",
+    "Lift the playingcards box with white symbols and slide it off the table.",
+    "Pick up the box of playingcards and move it farther outward.",
+    "Grab the card box with golden designs with the left arm and move it outward.",
+    "Place the playingcards pack with blue top away from the table outward.",
+    "Grab the palm-sized playingcards carton using the left arm and move it outward.",
+    "Lift the blue pack holding playingcards from the table and move it outward.",
+    "Lift the small playingcards container and relocate it off the table.",
+    "Lift the small playingcards container and push it off the table.",
+    "Lift the blue carton for playingcards and shift it outward.",
+    "Move the blue playingcards box further outward after picking it up.",
+    "Move the small playingcards container away from its position on the table.",
+    "Pick up the blue playingcards box and shift it further outward.",
+    "Use the left arm to pick up the smooth playingcards holder and move it.",
+    "Grab the blue and white playingcards packaging and move it further away.",
+    "Grab the smooth playingcards holder and shift it farther away from the table.",
+    "Slide the blue carton for playingcards off the table outward.",
+    "Lift the small playingcards container and place it farther away with the left arm.",
+    "Pick the box of playingcards and move it outward from the table.",
+    "Shift the blue carton for playingcards off the table to the side.",
+    "Shift the box of playingcards outward by grabbing it with the left arm.",
+    "Use the left arm to grab the blue pack holding playingcards and move it aside.",
+    "Lift the rectangular blue playingcards case with the left arm and move it outward.",
+    "Take the rectangular blue playingcards case and place it further outward.",
+    "Use the left arm to pick the rectangular blue playingcards case and shift it outward.",
+    "Take the rectangular blue playingcards case and move it away from the table.",
+    "Pick up the blue pack holding playingcards and move it away.",
+    "Using the left arm, lift the blue carton for playingcards and move it outward.",
+    "Move the small playingcards container outward from the table.",
+    "Pick up the blue playingcards box using the left arm and shift it outward.",
+    "Move the playingcards pack with blue top farther from the table using the left arm.",
+    "Relocate the blue and white playingcards packaging farther outward using the left arm.",
+    "Pick the blue carton for playingcards from the table and shift it outward.",
+    "Use the left arm to pick up the playingcards box with white symbols and push it outward.",
+    "Grab the blue and white playingcards packaging and set it beyond the table.",
+    "Pick up the palm-sized playingcards carton and place it further away.",
+    "Grab the small playingcards container and take it away from the table.",
+    "Pick the smooth playingcards holder and slide it further outward.",
+    "Use the left arm to grab the blue carton for playingcards and move it away.",
+    "Move the blue playingcards box off the table outward.",
+    "Shift the box of playingcards outward after grabbing it.",
+    "Grab the box of playingcards and move it further outward.",
+    "Grab the smooth playingcards holder using the left arm and push it outward.",
+    "Lift the playingcards box with white symbols and set it away from the table.",
+    "Use the left arm to pick the playingcards pack with blue top and move it outward.",
+    "Lift the card box with golden designs using the left arm and transfer it outward.",
+    "Pick up the playingcards box with white symbols with the left arm and place it outward.",
+    "With the left arm, pick up the palm-sized playingcards carton and slide it outward."
+  ],
+  "unseen": [
+    "Pick up the rectangular playingcards pack and shift it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Lift the rectangular playingcards pack from the table and shift it.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and move it outward.",
+    "Grab the rectangular playingcards pack and move it outward.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Use the left arm to grab the rectangular playingcards pack and relocate it.",
+    "Use the left arm to grab the small packet of playingcards and relocate it.",
+    "Grab the rectangular playingcards case with patterns and move it off the table.",
+    "Pick up the small packet of playingcards and shift it outward.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Lift the rectangular playingcards case with patterns from the table and shift it.",
+    "Use the left arm to grab the rectangular playingcards pack and move it outward.",
+    "Grab the rectangular playingcards pack and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Use the left arm to grab the small packet of playingcards and relocate it.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Grab the rectangular playingcards pack and move it off the table.",
+    "Pick up the rectangular playingcards case with patterns and shift it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Lift the small packet of playingcards from the table and shift it.",
+    "Use the left arm to grab the rectangular playingcards pack and move it outward.",
+    "Grab the rectangular playingcards pack and move it outward.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Use the left arm to grab the small packet of playingcards and relocate it.",
+    "Use the left arm to grab the small packet of playingcards and relocate it.",
+    "Grab the rectangular playingcards pack and move it off the table.",
+    "Pick up the rectangular playingcards case with patterns and shift it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Lift the rectangular playingcards case with patterns from the table and shift it.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and move it outward.",
+    "Grab the rectangular playingcards pack and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Use the left arm to grab the small packet of playingcards and relocate it.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Grab the small packet of playingcards and move it off the table.",
+    "Pick up the small packet of playingcards and shift it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Lift the rectangular playingcards pack from the table and shift it.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and move it outward.",
+    "Grab the small packet of playingcards and move it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Use the left arm to grab the small packet of playingcards and relocate it.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Grab the rectangular playingcards case with patterns and move it off the table.",
+    "Pick up the rectangular playingcards case with patterns and shift it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Lift the small packet of playingcards from the table and shift it.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and move it outward.",
+    "Grab the rectangular playingcards pack and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Use the left arm to grab the small packet of playingcards and relocate it.",
+    "Grab the rectangular playingcards pack and move it off the table.",
+    "Pick up the rectangular playingcards pack and shift it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Lift the rectangular playingcards pack from the table and shift it.",
+    "Use the left arm to grab the small packet of playingcards and move it outward.",
+    "Grab the small packet of playingcards and move it outward.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Use the left arm to grab the small packet of playingcards and relocate it.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Grab the small packet of playingcards and move it off the table.",
+    "Pick up the rectangular playingcards pack and shift it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Lift the rectangular playingcards pack from the table and shift it.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and move it outward.",
+    "Grab the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Use the left arm to grab the rectangular playingcards pack and relocate it.",
+    "Grab the rectangular playingcards pack and move it off the table.",
+    "Pick up the small packet of playingcards and shift it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Lift the rectangular playingcards pack from the table and shift it.",
+    "Use the left arm to grab the rectangular playingcards pack and move it outward.",
+    "Grab the small packet of playingcards and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Use the left arm to grab the rectangular playingcards pack and relocate it.",
+    "Grab the rectangular playingcards pack and move it off the table.",
+    "Pick up the small packet of playingcards and shift it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Lift the rectangular playingcards case with patterns from the table and shift it.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and move it outward.",
+    "Grab the rectangular playingcards pack and move it outward.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Use the left arm to grab the rectangular playingcards pack and relocate it.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Grab the rectangular playingcards pack and move it off the table."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10001102.json b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10001102.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2bd3dbdd206a22c7182f413f08b23a7ec19e045
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10001102.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the rectangular box for card storage and shift it farther away from the table.",
+    "Use the right arm to grab the playing cards box with gold text and move it aside.",
+    "Pick up the rectangular box for card storage and move it away.",
+    "Grab the cardboard playing cards box using the right arm and push it outward.",
+    "Grab the smooth black cards container from the table and shift it outward.",
+    "Grab the black playing cards box with the right arm and move it outward.",
+    "Grab the box with cards inside and move it further away.",
+    "Shift the black box with rectangular shape off the table to the side.",
+    "Shift the cardboard playing cards box outward by grabbing it with the right arm.",
+    "Grab the small black box with cards and take it away from the table.",
+    "Use the right arm to pick up the box with cards inside and push it outward.",
+    "Shift the black box with rectangular shape outward after grabbing it.",
+    "Grab the compact box for playing cards and set it beyond the table.",
+    "Use the right arm to grab the black box with rectangular shape and move it away.",
+    "Lift the smooth black cards container and set it away from the table.",
+    "Place the box holding playing cards away from the table outward.",
+    "Pick the rectangular box for card storage from the table and shift it outward.",
+    "Move the black box with rectangular shape outward from the table.",
+    "Pick the palm-sized box for playing cards and move it outward from the table.",
+    "Take the cardboard playing cards box and place it further outward.",
+    "Slide the compact box for playing cards off the table outward.",
+    "Pick up the black box with rectangular shape and shift it further outward.",
+    "Use the right arm to pick the cardboard playing cards box and shift it outward.",
+    "Use the right arm to pick up the black playing cards box and move it.",
+    "Grab the rectangular box for card storage using the right arm and move it outward.",
+    "Using the right arm, lift the palm-sized box for playing cards and move it outward.",
+    "Take the rectangle-shaped cards box and place it beyond the table.",
+    "Move the box holding playing cards farther from the table using the right arm.",
+    "Use the right arm to pick the compact box for playing cards and move it outward.",
+    "Lift the playing cards box with gold text and shift it outward.",
+    "Move the playing cards box with gold text off the table outward.",
+    "Move the rectangle-shaped cards box away from its position on the table.",
+    "Lift the rectangular box for card storage and relocate it off the table.",
+    "Pick up the rectangular box for card storage and place it further away.",
+    "With the right arm, pick up the box with cards inside and slide it outward.",
+    "Lift the black playing cards box and slide it off the table.",
+    "Pick up the compact box for playing cards using the right arm and shift it outward.",
+    "Take the compact box for playing cards and move it away from the table.",
+    "Grab the smooth black cards container and move it further outward.",
+    "Lift the rectangular box for card storage and push it off the table.",
+    "Pick up the box with cards inside and move it farther outward.",
+    "Pick up the smooth black cards container with the right arm and place it outward.",
+    "Lift the black box with rectangular shape from the table and move it outward.",
+    "Move the rectangular box for card storage further outward after picking it up.",
+    "Pick the black playing cards box and slide it further outward.",
+    "Lift the rectangular box for card storage using the right arm and transfer it outward.",
+    "Take the rectangle-shaped cards box and push it further away.",
+    "Lift the black playing cards box and place it farther away with the right arm.",
+    "Lift the box holding playing cards with the right arm and move it outward.",
+    "Relocate the playing cards box with gold text farther outward using the right arm.",
+    "Grab the cardboard playing cards box and shift it farther away from the table.",
+    "Use the right arm to grab the black box with rectangular shape and move it aside.",
+    "Pick up the playing cards box with gold text and move it away.",
+    "Grab the small black box with cards using the right arm and push it outward.",
+    "Grab the black playing cards box from the table and shift it outward.",
+    "Grab the cardboard playing cards box with the right arm and move it outward.",
+    "Grab the box with cards inside and move it further away.",
+    "Shift the small black box with cards off the table to the side.",
+    "Shift the black box with rectangular shape outward by grabbing it with the right arm.",
+    "Grab the smooth black cards container and take it away from the table.",
+    "Use the right arm to pick up the black playing cards box and push it outward.",
+    "Shift the box with cards inside outward after grabbing it.",
+    "Grab the rectangle-shaped cards box and set it beyond the table.",
+    "Use the right arm to grab the rectangular box for card storage and move it away.",
+    "Lift the rectangle-shaped cards box and set it away from the table.",
+    "Place the box with cards inside away from the table outward.",
+    "Pick the smooth black cards container from the table and shift it outward.",
+    "Move the smooth black cards container outward from the table.",
+    "Pick the black playing cards box and move it outward from the table.",
+    "Take the playing cards box with gold text and place it further outward.",
+    "Slide the box with cards inside off the table outward.",
+    "Pick up the palm-sized box for playing cards and shift it further outward.",
+    "Use the right arm to pick the rectangle-shaped cards box and shift it outward.",
+    "Use the right arm to pick up the black box with rectangular shape and move it.",
+    "Grab the smooth black cards container using the right arm and move it outward.",
+    "Using the right arm, lift the black playing cards box and move it outward.",
+    "Take the box with cards inside and place it beyond the table.",
+    "Move the playing cards box with gold text farther from the table using the right arm.",
+    "Use the right arm to pick the black playing cards box and move it outward.",
+    "Lift the playing cards box with gold text and shift it outward.",
+    "Move the black playing cards box off the table outward.",
+    "Move the rectangular box for card storage away from its position on the table.",
+    "Lift the cardboard playing cards box and relocate it off the table.",
+    "Pick up the box holding playing cards and place it further away.",
+    "With the right arm, pick up the rectangular box for card storage and slide it outward.",
+    "Lift the black box with rectangular shape and slide it off the table.",
+    "Pick up the rectangle-shaped cards box using the right arm and shift it outward.",
+    "Take the black box with rectangular shape and move it away from the table.",
+    "Grab the black box with rectangular shape and move it further outward.",
+    "Lift the box holding playing cards and push it off the table.",
+    "Pick up the playing cards box with gold text and move it farther outward.",
+    "Pick up the playing cards box with gold text with the right arm and place it outward.",
+    "Lift the compact box for playing cards from the table and move it outward.",
+    "Move the box holding playing cards further outward after picking it up.",
+    "Pick the palm-sized box for playing cards and slide it further outward.",
+    "Lift the compact box for playing cards using the right arm and transfer it outward.",
+    "Take the cardboard playing cards box and push it further away.",
+    "Lift the small black box with cards and place it farther away with the right arm.",
+    "Lift the smooth black cards container with the right arm and move it outward.",
+    "Relocate the rectangular box for card storage farther outward using the right arm."
+  ],
+  "unseen": [
+    "Pick up the gold text on playing cards box and shift it outward.",
+    "Use the right arm to grab the hard black box for card deck and move it outward.",
+    "Use the right arm to grab the hard black box for card deck and relocate it.",
+    "Lift the black box with smooth surface from the table and shift it.",
+    "Grab the hard black box for card deck and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Grab the gold text on playing cards box and move it off the table.",
+    "Use the right arm to grab the hard black box for card deck and relocate it.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Pick up the gold text on playing cards box and shift it outward.",
+    "Use the right arm to grab the black box with smooth surface and move it outward.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Lift the hard black box for card deck from the table and shift it.",
+    "Grab the hard black box for card deck and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Grab the gold text on playing cards box and move it off the table.",
+    "Use the right arm to grab the hard black box for card deck and relocate it.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Pick up the hard black box for card deck and shift it outward.",
+    "Use the right arm to grab the black box with smooth surface and move it outward.",
+    "Use the right arm to grab the gold text on playing cards box and relocate it.",
+    "Lift the gold text on playing cards box from the table and shift it.",
+    "Grab the gold text on playing cards box and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Grab the hard black box for card deck and move it off the table.",
+    "Use the right arm to grab the gold text on playing cards box and relocate it.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Pick up the black box with smooth surface and shift it outward.",
+    "Use the right arm to grab the hard black box for card deck and move it outward.",
+    "Use the right arm to grab the hard black box for card deck and relocate it.",
+    "Lift the black box with smooth surface from the table and shift it.",
+    "Grab the hard black box for card deck and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Grab the gold text on playing cards box and move it off the table.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Pick up the gold text on playing cards box and shift it outward.",
+    "Use the right arm to grab the gold text on playing cards box and move it outward.",
+    "Use the right arm to grab the hard black box for card deck and relocate it.",
+    "Lift the black box with smooth surface from the table and shift it.",
+    "Grab the black box with smooth surface and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Grab the hard black box for card deck and move it off the table.",
+    "Use the right arm to grab the hard black box for card deck and relocate it.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Pick up the black box with smooth surface and shift it outward.",
+    "Use the right arm to grab the hard black box for card deck and move it outward.",
+    "Use the right arm to grab the gold text on playing cards box and relocate it.",
+    "Lift the hard black box for card deck from the table and shift it.",
+    "Grab the hard black box for card deck and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Grab the black box with smooth surface and move it off the table.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Pick up the black box with smooth surface and shift it outward.",
+    "Use the right arm to grab the black box with smooth surface and move it outward.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Lift the gold text on playing cards box from the table and shift it.",
+    "Grab the hard black box for card deck and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Grab the gold text on playing cards box and move it off the table.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Pick up the hard black box for card deck and shift it outward.",
+    "Use the right arm to grab the gold text on playing cards box and move it outward.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Lift the black box with smooth surface from the table and shift it.",
+    "Grab the black box with smooth surface and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Grab the black box with smooth surface and move it off the table.",
+    "Use the right arm to grab the gold text on playing cards box and relocate it.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Pick up the hard black box for card deck and shift it outward.",
+    "Use the right arm to grab the hard black box for card deck and move it outward.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Lift the hard black box for card deck from the table and shift it.",
+    "Grab the hard black box for card deck and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Grab the black box with smooth surface and move it off the table.",
+    "Use the right arm to grab the hard black box for card deck and relocate it.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Pick up the black box with smooth surface and shift it outward.",
+    "Use the right arm to grab the hard black box for card deck and move it outward.",
+    "Use the right arm to grab the hard black box for card deck and relocate it.",
+    "Lift the black box with smooth surface from the table and shift it.",
+    "Grab the gold text on playing cards box and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Grab the black box with smooth surface and move it off the table.",
+    "Use the right arm to grab the gold text on playing cards box and relocate it.",
+    "Pick up the hard black box for card deck and move it outward."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10001194.json b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10001194.json
new file mode 100644
index 0000000000000000000000000000000000000000..bff2d812d6b139e221a3c367b6ee028b3a22e693
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10001194.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the glossy rectangular playingcards box and push it further away.",
+    "Grab the compact red playingcards pack using the left arm and move it outward.",
+    "Grab the playingcards box with white accents using the left arm and push it outward.",
+    "Move the red playingcards box further outward after picking it up.",
+    "Shift the small playingcards pack outward by grabbing it with the left arm.",
+    "Grab the rectangular playingcards case and set it beyond the table.",
+    "Lift the compact red playingcards pack and relocate it off the table.",
+    "Shift the red and yellow playingcards case off the table to the side.",
+    "Grab the yellow and red playingcards box with the left arm and move it outward.",
+    "Lift the box for playingcards using the left arm and transfer it outward.",
+    "Use the left arm to grab the rectangular playingcards case and move it away.",
+    "Use the left arm to pick the hand-sized playingcards container and move it outward.",
+    "Place the red and yellow playingcards case away from the table outward.",
+    "Move the small playingcards pack farther from the table using the left arm.",
+    "With the left arm, pick up the playingcards box with white accents and slide it outward.",
+    "Relocate the red and yellow playingcards case farther outward using the left arm.",
+    "Lift the playingcards box with white accents and push it off the table.",
+    "Take the red and yellow playingcards case and place it further outward.",
+    "Use the left arm to pick the rectangular playingcards case and shift it outward.",
+    "Take the yellow and red playingcards box and place it beyond the table.",
+    "Use the left arm to pick up the rectangular playingcards case and move it.",
+    "Lift the compact red playingcards pack with the left arm and move it outward.",
+    "Grab the playingcards storage box and shift it farther away from the table.",
+    "Grab the playingcards storage box and take it away from the table.",
+    "Pick the red and yellow playingcards case from the table and shift it outward.",
+    "Move the yellow and red playingcards box away from its position on the table.",
+    "Pick up the rectangular playingcards case and shift it further outward.",
+    "Grab the playingcards box with white accents from the table and shift it outward.",
+    "Grab the red and yellow playingcards case and move it further outward.",
+    "Pick the red playingcards box and slide it further outward.",
+    "Shift the playingcards box with white accents outward after grabbing it.",
+    "Use the left arm to pick up the red playingcards box and push it outward.",
+    "Lift the rectangular playingcards case from the table and move it outward.",
+    "Pick up the glossy rectangular playingcards box and move it away.",
+    "Using the left arm, lift the small playingcards pack and move it outward.",
+    "Use the left arm to grab the compact red playingcards pack and move it aside.",
+    "Grab the red and yellow playingcards case and move it further away.",
+    "Move the hand-sized playingcards container outward from the table.",
+    "Move the small playingcards pack off the table outward.",
+    "Take the compact red playingcards pack and move it away from the table.",
+    "Slide the smooth playingcards pack off the table outward.",
+    "Pick the yellow and red playingcards box and move it outward from the table.",
+    "Lift the yellow and red playingcards box and slide it off the table.",
+    "Pick up the yellow and red playingcards box with the left arm and place it outward.",
+    "Lift the smooth playingcards pack and set it away from the table.",
+    "Lift the yellow and red playingcards box and shift it outward.",
+    "Pick up the hand-sized playingcards container using the left arm and shift it outward.",
+    "Pick up the compact red playingcards pack and place it further away.",
+    "Lift the red playingcards box and place it farther away with the left arm.",
+    "Pick up the small playingcards pack and move it farther outward.",
+    "Take the red playingcards box and push it further away.",
+    "Grab the red and yellow playingcards case using the left arm and move it outward.",
+    "Grab the smooth playingcards pack using the left arm and push it outward.",
+    "Move the compact red playingcards pack further outward after picking it up.",
+    "Shift the red playingcards box outward by grabbing it with the left arm.",
+    "Grab the smooth playingcards pack and set it beyond the table.",
+    "Lift the smooth playingcards pack and relocate it off the table.",
+    "Shift the smooth playingcards pack off the table to the side.",
+    "Grab the smooth playingcards pack with the left arm and move it outward.",
+    "Lift the hand-sized playingcards container using the left arm and transfer it outward.",
+    "Use the left arm to grab the compact red playingcards pack and move it away.",
+    "Use the left arm to pick the hand-sized playingcards container and move it outward.",
+    "Place the small playingcards pack away from the table outward.",
+    "Move the box for playingcards farther from the table using the left arm.",
+    "With the left arm, pick up the smooth playingcards pack and slide it outward.",
+    "Relocate the compact red playingcards pack farther outward using the left arm.",
+    "Lift the rectangular playingcards case and push it off the table.",
+    "Take the glossy rectangular playingcards box and place it further outward.",
+    "Use the left arm to pick the smooth playingcards pack and shift it outward.",
+    "Take the yellow and red playingcards box and place it beyond the table.",
+    "Use the left arm to pick up the glossy rectangular playingcards box and move it.",
+    "Lift the smooth playingcards pack with the left arm and move it outward.",
+    "Grab the playingcards box with white accents and shift it farther away from the table.",
+    "Grab the smooth playingcards pack and take it away from the table.",
+    "Pick the hand-sized playingcards container from the table and shift it outward.",
+    "Move the red and yellow playingcards case away from its position on the table.",
+    "Pick up the smooth playingcards pack and shift it further outward.",
+    "Grab the smooth playingcards pack from the table and shift it outward.",
+    "Grab the compact red playingcards pack and move it further outward.",
+    "Pick the red and yellow playingcards case and slide it further outward.",
+    "Shift the glossy rectangular playingcards box outward after grabbing it.",
+    "Use the left arm to pick up the smooth playingcards pack and push it outward.",
+    "Lift the small playingcards pack from the table and move it outward.",
+    "Pick up the compact red playingcards pack and move it away.",
+    "Using the left arm, lift the hand-sized playingcards container and move it outward.",
+    "Use the left arm to grab the playingcards box with white accents and move it aside.",
+    "Grab the red and yellow playingcards case and move it further away.",
+    "Move the small playingcards pack outward from the table.",
+    "Move the smooth playingcards pack off the table outward.",
+    "Take the box for playingcards and move it away from the table.",
+    "Slide the glossy rectangular playingcards box off the table outward.",
+    "Pick the rectangular playingcards case and move it outward from the table.",
+    "Lift the playingcards box with white accents and slide it off the table.",
+    "Pick up the smooth playingcards pack with the left arm and place it outward.",
+    "Lift the small playingcards pack and set it away from the table.",
+    "Lift the yellow and red playingcards box and shift it outward.",
+    "Pick up the small playingcards pack using the left arm and shift it outward.",
+    "Pick up the hand-sized playingcards container and place it further away.",
+    "Lift the playingcards box with white accents and place it farther away with the left arm.",
+    "Pick up the box for playingcards and move it farther outward."
+  ],
+  "unseen": [
+    "Pick up the small box for playingcards and move it outward.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Use the left arm to grab the small box for playingcards and relocate it.",
+    "Use the left arm to grab the small box for playingcards and move it outward.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Grab the small box for playingcards and move it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Use the left arm to grab the rectangular red playingcards holder and move it outward.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Use the left arm to grab the small box for playingcards and relocate it.",
+    "Use the left arm to grab the rectangular red playingcards holder and move it outward.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Grab the small box for playingcards and move it outward.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Use the left arm to grab the playingcards with red packaging and move it outward.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Use the left arm to grab the small box for playingcards and relocate it.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Grab the small box for playingcards and move it outward.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Use the left arm to grab the playingcards with red packaging and move it outward.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Use the left arm to grab the small box for playingcards and relocate it.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Use the left arm to grab the playingcards with red packaging and move it outward.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Grab the small box for playingcards and move it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Use the left arm to grab the rectangular red playingcards holder and move it outward.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Use the left arm to grab the small box for playingcards and relocate it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Use the left arm to grab the playingcards with red packaging and move it outward.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Use the left arm to grab the small box for playingcards and relocate it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Grab the small box for playingcards and move it outward.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Use the left arm to grab the small box for playingcards and move it outward.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Use the left arm to grab the playingcards with red packaging and move it outward.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Grab the playingcards with red packaging and move it off the table."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10001200.json b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10001200.json
new file mode 100644
index 0000000000000000000000000000000000000000..555ab3e2131a8b25aa8e482a4144351d9372f03f
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10001200.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the compact red playingcards pack from the table and shift it outward.",
+    "Take the glossy rectangular playingcards box and move it away from the table.",
+    "Grab the red and yellow playingcards case and shift it farther away from the table.",
+    "Move the rectangular playingcards case further outward after picking it up.",
+    "Use the right arm to pick up the glossy rectangular playingcards box and push it outward.",
+    "Lift the box for playingcards and slide it off the table.",
+    "Use the right arm to pick the rectangular playingcards case and move it outward.",
+    "Grab the glossy rectangular playingcards box using the right arm and move it outward.",
+    "Pick the red and yellow playingcards case and move it outward from the table.",
+    "Place the box for playingcards away from the table outward.",
+    "Grab the yellow and red playingcards box using the right arm and push it outward.",
+    "Lift the rectangular playingcards case from the table and move it outward.",
+    "Take the hand-sized playingcards container and place it beyond the table.",
+    "Lift the small playingcards pack with the right arm and move it outward.",
+    "Grab the hand-sized playingcards container and set it beyond the table.",
+    "Move the red and yellow playingcards case away from its position on the table.",
+    "Pick up the playingcards storage box and move it farther outward.",
+    "Shift the playingcards storage box outward after grabbing it.",
+    "Lift the red and yellow playingcards case using the right arm and transfer it outward.",
+    "Take the red and yellow playingcards case and push it further away.",
+    "Shift the compact red playingcards pack off the table to the side.",
+    "Slide the glossy rectangular playingcards box off the table outward.",
+    "Using the right arm, lift the compact red playingcards pack and move it outward.",
+    "With the right arm, pick up the playingcards box with white accents and slide it outward.",
+    "Grab the hand-sized playingcards container and move it further outward.",
+    "Grab the small playingcards pack with the right arm and move it outward.",
+    "Grab the playingcards box with white accents and take it away from the table.",
+    "Use the right arm to grab the red playingcards box and move it aside.",
+    "Lift the playingcards storage box and push it off the table.",
+    "Move the red playingcards box farther from the table using the right arm.",
+    "Lift the yellow and red playingcards box and shift it outward.",
+    "Lift the small playingcards pack and place it farther away with the right arm.",
+    "Grab the red and yellow playingcards case and move it further away.",
+    "Pick up the hand-sized playingcards container with the right arm and place it outward.",
+    "Pick up the yellow and red playingcards box and move it away.",
+    "Pick up the small playingcards pack using the right arm and shift it outward.",
+    "Lift the yellow and red playingcards box and set it away from the table.",
+    "Move the playingcards box with white accents outward from the table.",
+    "Use the right arm to pick up the rectangular playingcards case and move it.",
+    "Pick the hand-sized playingcards container and slide it further outward.",
+    "Take the yellow and red playingcards box and place it further outward.",
+    "Shift the playingcards box with white accents outward by grabbing it with the right arm.",
+    "Pick up the hand-sized playingcards container and shift it further outward.",
+    "Use the right arm to grab the glossy rectangular playingcards box and move it away.",
+    "Pick up the red playingcards box and place it further away.",
+    "Pick the hand-sized playingcards container from the table and shift it outward.",
+    "Lift the hand-sized playingcards container and relocate it off the table.",
+    "Move the box for playingcards off the table outward.",
+    "Use the right arm to pick the box for playingcards and shift it outward.",
+    "Relocate the small playingcards pack farther outward using the right arm.",
+    "Grab the playingcards storage box from the table and shift it outward.",
+    "Take the small playingcards pack and move it away from the table.",
+    "Grab the glossy rectangular playingcards box and shift it farther away from the table.",
+    "Move the red playingcards box further outward after picking it up.",
+    "Use the right arm to pick up the rectangular playingcards case and push it outward.",
+    "Lift the playingcards box with white accents and slide it off the table.",
+    "Use the right arm to pick the smooth playingcards pack and move it outward.",
+    "Grab the red and yellow playingcards case using the right arm and move it outward.",
+    "Pick the yellow and red playingcards box and move it outward from the table.",
+    "Place the glossy rectangular playingcards box away from the table outward.",
+    "Grab the compact red playingcards pack using the right arm and push it outward.",
+    "Lift the box for playingcards from the table and move it outward.",
+    "Take the compact red playingcards pack and place it beyond the table.",
+    "Lift the yellow and red playingcards box with the right arm and move it outward.",
+    "Grab the box for playingcards and set it beyond the table.",
+    "Move the box for playingcards away from its position on the table.",
+    "Pick up the compact red playingcards pack and move it farther outward.",
+    "Shift the small playingcards pack outward after grabbing it.",
+    "Lift the box for playingcards using the right arm and transfer it outward.",
+    "Take the compact red playingcards pack and push it further away.",
+    "Shift the playingcards box with white accents off the table to the side.",
+    "Slide the red and yellow playingcards case off the table outward.",
+    "Using the right arm, lift the red and yellow playingcards case and move it outward.",
+    "With the right arm, pick up the playingcards storage box and slide it outward.",
+    "Grab the playingcards storage box and move it further outward.",
+    "Grab the box for playingcards with the right arm and move it outward.",
+    "Grab the compact red playingcards pack and take it away from the table.",
+    "Use the right arm to grab the rectangular playingcards case and move it aside.",
+    "Lift the box for playingcards and push it off the table.",
+    "Move the yellow and red playingcards box farther from the table using the right arm.",
+    "Lift the red playingcards box and shift it outward.",
+    "Lift the red and yellow playingcards case and place it farther away with the right arm.",
+    "Grab the hand-sized playingcards container and move it further away.",
+    "Pick up the playingcards storage box with the right arm and place it outward.",
+    "Pick up the red playingcards box and move it away.",
+    "Pick up the compact red playingcards pack using the right arm and shift it outward.",
+    "Lift the small playingcards pack and set it away from the table.",
+    "Move the hand-sized playingcards container outward from the table.",
+    "Use the right arm to pick up the smooth playingcards pack and move it.",
+    "Pick the playingcards box with white accents and slide it further outward.",
+    "Take the playingcards storage box and place it further outward.",
+    "Shift the yellow and red playingcards box outward by grabbing it with the right arm.",
+    "Pick up the red and yellow playingcards case and shift it further outward.",
+    "Use the right arm to grab the glossy rectangular playingcards box and move it away.",
+    "Pick up the hand-sized playingcards container and place it further away.",
+    "Pick the yellow and red playingcards box from the table and shift it outward.",
+    "Lift the box for playingcards and relocate it off the table.",
+    "Move the small playingcards pack off the table outward.",
+    "Use the right arm to pick the hand-sized playingcards container and shift it outward.",
+    "Relocate the hand-sized playingcards container farther outward using the right arm."
+  ],
+  "unseen": [
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Use the right arm to grab the rectangular red playingcards holder and relocate it.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Use the right arm to grab the playingcards with red packaging and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Use the right arm to grab the playingcards with red packaging and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Use the right arm to grab the rectangular red playingcards holder and relocate it.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Use the right arm to grab the playingcards with red packaging and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Use the right arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Use the right arm to grab the small box for playingcards and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Use the right arm to grab the playingcards with red packaging and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Use the right arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Grab the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Use the right arm to grab the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Use the right arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Use the right arm to grab the rectangular red playingcards holder and relocate it.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Use the right arm to grab the playingcards with red packaging and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Use the right arm to grab the small box for playingcards and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Grab the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Use the right arm to grab the playingcards with red packaging and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Use the right arm to grab the rectangular red playingcards holder and relocate it.",
+    "Grab the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Use the right arm to grab the rectangular red playingcards holder and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Use the right arm to grab the small box for playingcards and relocate it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10001243.json b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10001243.json
new file mode 100644
index 0000000000000000000000000000000000000000..97b3177ef30a199d5fc50770862e1fe400550686
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10001243.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the palm-sized playingcards carton from the table and shift it outward.",
+    "Use the left arm to pick the small playingcards container and move it outward.",
+    "Pick up the palm-sized playingcards carton and move it away.",
+    "Grab the smooth playingcards holder and take it away from the table.",
+    "Grab the blue pack holding playingcards and shift it farther away from the table.",
+    "Pick the blue carton for playingcards from the table and shift it outward.",
+    "Pick up the blue pack holding playingcards using the left arm and shift it outward.",
+    "Place the box of playingcards away from the table outward.",
+    "Take the card box with golden designs and push it further away.",
+    "Move the blue carton for playingcards outward from the table.",
+    "Grab the playingcards pack with blue top and move it further outward.",
+    "Take the box of playingcards and move it away from the table.",
+    "Move the blue carton for playingcards off the table outward.",
+    "Pick up the small playingcards container with the left arm and place it outward.",
+    "Use the left arm to pick the box of playingcards and shift it outward.",
+    "Use the left arm to grab the card box with golden designs and move it away.",
+    "Shift the blue carton for playingcards outward by grabbing it with the left arm.",
+    "Pick the blue pack holding playingcards and slide it further outward.",
+    "Take the rectangular blue playingcards case and place it further outward.",
+    "Lift the playingcards box with white symbols with the left arm and move it outward.",
+    "Slide the blue pack holding playingcards off the table outward.",
+    "Lift the palm-sized playingcards carton and shift it outward.",
+    "Lift the small playingcards container and place it farther away with the left arm.",
+    "Pick up the blue playingcards box and shift it further outward.",
+    "Take the small playingcards container and place it beyond the table.",
+    "Lift the blue and white playingcards packaging from the table and move it outward.",
+    "Pick up the rectangular blue playingcards case and place it further away.",
+    "Use the left arm to grab the blue playingcards box and move it aside.",
+    "Lift the palm-sized playingcards carton and set it away from the table.",
+    "Grab the rectangular blue playingcards case with the left arm and move it outward.",
+    "Lift the playingcards pack with blue top and relocate it off the table.",
+    "Shift the rectangular blue playingcards case off the table to the side.",
+    "Lift the rectangular blue playingcards case and push it off the table.",
+    "Move the blue and white playingcards packaging away from its position on the table.",
+    "Shift the smooth playingcards holder outward after grabbing it.",
+    "Lift the blue carton for playingcards using the left arm and transfer it outward.",
+    "Use the left arm to pick up the playingcards box with white symbols and move it.",
+    "Pick the smooth playingcards holder and move it outward from the table.",
+    "Grab the playingcards box with white symbols using the left arm and push it outward.",
+    "Using the left arm, lift the smooth playingcards holder and move it outward.",
+    "Grab the blue and white playingcards packaging using the left arm and move it outward.",
+    "Move the palm-sized playingcards carton further outward after picking it up.",
+    "Use the left arm to pick up the palm-sized playingcards carton and push it outward.",
+    "With the left arm, pick up the rectangular blue playingcards case and slide it outward.",
+    "Grab the playingcards pack with blue top and move it further away.",
+    "Lift the card box with golden designs and slide it off the table.",
+    "Pick up the blue carton for playingcards and move it farther outward.",
+    "Relocate the palm-sized playingcards carton farther outward using the left arm.",
+    "Move the playingcards pack with blue top farther from the table using the left arm.",
+    "Grab the blue pack holding playingcards and set it beyond the table.",
+    "Grab the rectangular blue playingcards case from the table and shift it outward.",
+    "Use the left arm to pick the blue playingcards box and move it outward.",
+    "Pick up the smooth playingcards holder and move it away.",
+    "Grab the blue playingcards box and take it away from the table.",
+    "Grab the palm-sized playingcards carton and shift it farther away from the table.",
+    "Pick the blue playingcards box from the table and shift it outward.",
+    "Pick up the blue pack holding playingcards using the left arm and shift it outward.",
+    "Place the smooth playingcards holder away from the table outward.",
+    "Take the smooth playingcards holder and push it further away.",
+    "Move the blue and white playingcards packaging outward from the table.",
+    "Grab the palm-sized playingcards carton and move it further outward.",
+    "Take the small playingcards container and move it away from the table.",
+    "Move the blue pack holding playingcards off the table outward.",
+    "Pick up the small playingcards container with the left arm and place it outward.",
+    "Use the left arm to pick the box of playingcards and shift it outward.",
+    "Use the left arm to grab the blue and white playingcards packaging and move it away.",
+    "Shift the smooth playingcards holder outward by grabbing it with the left arm.",
+    "Pick the palm-sized playingcards carton and slide it further outward.",
+    "Take the blue and white playingcards packaging and place it further outward.",
+    "Lift the blue pack holding playingcards with the left arm and move it outward.",
+    "Slide the playingcards box with white symbols off the table outward.",
+    "Lift the palm-sized playingcards carton and shift it outward.",
+    "Lift the card box with golden designs and place it farther away with the left arm.",
+    "Pick up the blue playingcards box and shift it further outward.",
+    "Take the box of playingcards and place it beyond the table.",
+    "Lift the card box with golden designs from the table and move it outward.",
+    "Pick up the box of playingcards and place it further away.",
+    "Use the left arm to grab the card box with golden designs and move it aside.",
+    "Lift the small playingcards container and set it away from the table.",
+    "Grab the playingcards pack with blue top with the left arm and move it outward.",
+    "Lift the blue and white playingcards packaging and relocate it off the table.",
+    "Shift the blue carton for playingcards off the table to the side.",
+    "Lift the rectangular blue playingcards case and push it off the table.",
+    "Move the smooth playingcards holder away from its position on the table.",
+    "Shift the blue carton for playingcards outward after grabbing it.",
+    "Lift the blue and white playingcards packaging using the left arm and transfer it outward.",
+    "Use the left arm to pick up the blue playingcards box and move it.",
+    "Pick the playingcards pack with blue top and move it outward from the table.",
+    "Grab the rectangular blue playingcards case using the left arm and push it outward.",
+    "Using the left arm, lift the rectangular blue playingcards case and move it outward.",
+    "Grab the card box with golden designs using the left arm and move it outward.",
+    "Move the smooth playingcards holder further outward after picking it up.",
+    "Use the left arm to pick up the card box with golden designs and push it outward.",
+    "With the left arm, pick up the small playingcards container and slide it outward.",
+    "Grab the blue playingcards box and move it further away.",
+    "Lift the blue and white playingcards packaging and slide it off the table.",
+    "Pick up the smooth playingcards holder and move it farther outward.",
+    "Relocate the small playingcards container farther outward using the left arm.",
+    "Move the palm-sized playingcards carton farther from the table using the left arm.",
+    "Grab the blue carton for playingcards and set it beyond the table."
+  ],
+  "unseen": [
+    "Pick up the small packet of playingcards and move it outward.",
+    "Grab the small packet of playingcards and move it off the table.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Use the left arm to grab the small packet of playingcards and move it outward.",
+    "Use the left arm to grab the rectangular playingcards pack and relocate it.",
+    "Pick up the rectangular playingcards case with patterns and shift it outward.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Grab the small packet of playingcards and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Lift the rectangular playingcards pack from the table and shift it.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Grab the rectangular playingcards case with patterns and move it off the table.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Use the left arm to grab the small packet of playingcards and move it outward.",
+    "Use the left arm to grab the rectangular playingcards pack and relocate it.",
+    "Pick up the small packet of playingcards and shift it outward.",
+    "Use the left arm to grab the small packet of playingcards and relocate it.",
+    "Grab the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Lift the small packet of playingcards from the table and shift it.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Grab the rectangular playingcards case with patterns and move it off the table.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Use the left arm to grab the rectangular playingcards pack and move it outward.",
+    "Use the left arm to grab the rectangular playingcards pack and relocate it.",
+    "Pick up the small packet of playingcards and shift it outward.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Grab the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Lift the small packet of playingcards from the table and shift it.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Grab the rectangular playingcards case with patterns and move it off the table.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and move it outward.",
+    "Use the left arm to grab the small packet of playingcards and relocate it.",
+    "Pick up the rectangular playingcards case with patterns and shift it outward.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Grab the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Lift the small packet of playingcards from the table and shift it.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Grab the rectangular playingcards pack and move it off the table.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Use the left arm to grab the small packet of playingcards and move it outward.",
+    "Use the left arm to grab the small packet of playingcards and relocate it.",
+    "Pick up the rectangular playingcards case with patterns and shift it outward.",
+    "Use the left arm to grab the small packet of playingcards and relocate it.",
+    "Grab the small packet of playingcards and move it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Lift the rectangular playingcards case with patterns from the table and shift it.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Grab the rectangular playingcards pack and move it off the table.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Use the left arm to grab the rectangular playingcards pack and move it outward.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Pick up the rectangular playingcards case with patterns and shift it outward.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Grab the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Lift the rectangular playingcards pack from the table and shift it.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Grab the small packet of playingcards and move it off the table.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Use the left arm to grab the small packet of playingcards and move it outward.",
+    "Use the left arm to grab the small packet of playingcards and relocate it.",
+    "Pick up the small packet of playingcards and shift it outward.",
+    "Use the left arm to grab the small packet of playingcards and relocate it.",
+    "Grab the rectangular playingcards pack and move it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Lift the rectangular playingcards pack from the table and shift it.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Grab the small packet of playingcards and move it off the table.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Use the left arm to grab the small packet of playingcards and move it outward.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Pick up the rectangular playingcards pack and shift it outward.",
+    "Use the left arm to grab the rectangular playingcards pack and relocate it.",
+    "Grab the rectangular playingcards pack and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Lift the small packet of playingcards from the table and shift it.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Grab the rectangular playingcards pack and move it off the table.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and move it outward.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Pick up the small packet of playingcards and shift it outward.",
+    "Use the left arm to grab the small packet of playingcards and relocate it.",
+    "Grab the small packet of playingcards and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Lift the rectangular playingcards pack from the table and shift it.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Grab the rectangular playingcards pack and move it off the table.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Use the left arm to grab the rectangular playingcards pack and move it outward.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Pick up the rectangular playingcards pack and shift it outward.",
+    "Use the left arm to grab the rectangular playingcards pack and relocate it.",
+    "Grab the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Lift the small packet of playingcards from the table and shift it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10001246.json b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10001246.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9cfc57cb03700926087473543a140423e677bcb
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10001246.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shift the cardboard playing cards box off the table to the side.",
+    "Grab the compact box for playing cards and move it further outward.",
+    "Grab the box with cards inside and shift it farther away from the table.",
+    "Use the left arm to grab the palm-sized box for playing cards and move it aside.",
+    "Pick up the playing cards box with gold text and place it further away.",
+    "Move the palm-sized box for playing cards further outward after picking it up.",
+    "Lift the rectangular box for card storage and push it off the table.",
+    "Relocate the small black box with cards farther outward using the left arm.",
+    "Use the left arm to pick the black playing cards box and move it outward.",
+    "Grab the black box with rectangular shape and take it away from the table.",
+    "Pick up the rectangular box for card storage and move it farther outward.",
+    "Shift the black playing cards box outward after grabbing it.",
+    "With the left arm, pick up the compact box for playing cards and slide it outward.",
+    "Grab the cardboard playing cards box using the left arm and push it outward.",
+    "Slide the box holding playing cards off the table outward.",
+    "Move the cardboard playing cards box off the table outward.",
+    "Grab the smooth black cards container using the left arm and move it outward.",
+    "Place the black playing cards box away from the table outward.",
+    "Pick the small black box with cards and move it outward from the table.",
+    "Shift the black playing cards box outward by grabbing it with the left arm.",
+    "Move the black box with rectangular shape away from its position on the table.",
+    "Take the small black box with cards and place it further outward.",
+    "Lift the rectangle-shaped cards box using the left arm and transfer it outward.",
+    "Move the small black box with cards outward from the table.",
+    "Use the left arm to pick up the rectangle-shaped cards box and push it outward.",
+    "Take the compact box for playing cards and move it away from the table.",
+    "Grab the palm-sized box for playing cards and set it beyond the table.",
+    "Pick up the smooth black cards container and move it away.",
+    "Pick the playing cards box with gold text from the table and shift it outward.",
+    "Grab the rectangle-shaped cards box and move it further away.",
+    "Grab the box with cards inside with the left arm and move it outward.",
+    "Pick up the black playing cards box using the left arm and shift it outward.",
+    "Lift the box holding playing cards from the table and move it outward.",
+    "Move the rectangle-shaped cards box farther from the table using the left arm.",
+    "Use the left arm to grab the palm-sized box for playing cards and move it away.",
+    "Grab the compact box for playing cards from the table and shift it outward.",
+    "Use the left arm to pick up the smooth black cards container and move it.",
+    "Pick up the smooth black cards container and shift it further outward.",
+    "Lift the cardboard playing cards box and place it farther away with the left arm.",
+    "Lift the black playing cards box with the left arm and move it outward.",
+    "Lift the playing cards box with gold text and set it away from the table.",
+    "Lift the cardboard playing cards box and slide it off the table.",
+    "Lift the smooth black cards container and shift it outward.",
+    "Take the palm-sized box for playing cards and push it further away.",
+    "Use the left arm to pick the rectangle-shaped cards box and shift it outward.",
+    "Pick the box holding playing cards and slide it further outward.",
+    "Using the left arm, lift the cardboard playing cards box and move it outward.",
+    "Pick up the rectangular box for card storage with the left arm and place it outward.",
+    "Take the palm-sized box for playing cards and place it beyond the table.",
+    "Lift the palm-sized box for playing cards and relocate it off the table.",
+    "Shift the cardboard playing cards box off the table to the side.",
+    "Grab the box holding playing cards and move it further outward.",
+    "Grab the palm-sized box for playing cards and shift it farther away from the table.",
+    "Use the left arm to grab the black playing cards box and move it aside.",
+    "Pick up the box holding playing cards and place it further away.",
+    "Move the box holding playing cards further outward after picking it up.",
+    "Lift the small black box with cards and push it off the table.",
+    "Relocate the box holding playing cards farther outward using the left arm.",
+    "Use the left arm to pick the rectangle-shaped cards box and move it outward.",
+    "Grab the rectangular box for card storage and take it away from the table.",
+    "Pick up the smooth black cards container and move it farther outward.",
+    "Shift the playing cards box with gold text outward after grabbing it.",
+    "With the left arm, pick up the small black box with cards and slide it outward.",
+    "Grab the cardboard playing cards box using the left arm and push it outward.",
+    "Slide the rectangle-shaped cards box off the table outward.",
+    "Move the rectangle-shaped cards box off the table outward.",
+    "Grab the small black box with cards using the left arm and move it outward.",
+    "Place the black box with rectangular shape away from the table outward.",
+    "Pick the palm-sized box for playing cards and move it outward from the table.",
+    "Shift the box holding playing cards outward by grabbing it with the left arm.",
+    "Move the cardboard playing cards box away from its position on the table.",
+    "Take the black box with rectangular shape and place it further outward.",
+    "Lift the smooth black cards container using the left arm and transfer it outward.",
+    "Move the rectangle-shaped cards box outward from the table.",
+    "Use the left arm to pick up the rectangle-shaped cards box and push it outward.",
+    "Take the compact box for playing cards and move it away from the table.",
+    "Grab the box holding playing cards and set it beyond the table.",
+    "Pick up the palm-sized box for playing cards and move it away.",
+    "Pick the playing cards box with gold text from the table and shift it outward.",
+    "Grab the box with cards inside and move it further away.",
+    "Grab the smooth black cards container with the left arm and move it outward.",
+    "Pick up the box with cards inside using the left arm and shift it outward.",
+    "Lift the palm-sized box for playing cards from the table and move it outward.",
+    "Move the compact box for playing cards farther from the table using the left arm.",
+    "Use the left arm to grab the box holding playing cards and move it away.",
+    "Grab the box holding playing cards from the table and shift it outward.",
+    "Use the left arm to pick up the cardboard playing cards box and move it.",
+    "Pick up the smooth black cards container and shift it further outward.",
+    "Lift the black playing cards box and place it farther away with the left arm.",
+    "Lift the black playing cards box with the left arm and move it outward.",
+    "Lift the palm-sized box for playing cards and set it away from the table.",
+    "Lift the black playing cards box and slide it off the table.",
+    "Lift the cardboard playing cards box and shift it outward.",
+    "Take the rectangular box for card storage and push it further away.",
+    "Use the left arm to pick the smooth black cards container and shift it outward.",
+    "Pick the black playing cards box and slide it further outward.",
+    "Using the left arm, lift the black playing cards box and move it outward.",
+    "Pick up the box with cards inside with the left arm and place it outward.",
+    "Take the palm-sized box for playing cards and place it beyond the table.",
+    "Lift the rectangle-shaped cards box and relocate it off the table."
+  ],
+  "unseen": [
+    "Use the left arm to grab the hard black box for card deck and relocate it.",
+    "Pick up the gold text on playing cards box and shift it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Lift the gold text on playing cards box from the table and shift it.",
+    "Grab the gold text on playing cards box and move it outward.",
+    "Grab the gold text on playing cards box and move it off the table.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Use the left arm to grab the black box with smooth surface and relocate it.",
+    "Use the left arm to grab the black box with smooth surface and move it outward.",
+    "Use the left arm to grab the gold text on playing cards box and relocate it.",
+    "Pick up the hard black box for card deck and shift it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Lift the black box with smooth surface from the table and shift it.",
+    "Grab the hard black box for card deck and move it outward.",
+    "Grab the black box with smooth surface and move it off the table.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Use the left arm to grab the gold text on playing cards box and relocate it.",
+    "Use the left arm to grab the hard black box for card deck and move it outward.",
+    "Use the left arm to grab the gold text on playing cards box and relocate it.",
+    "Pick up the hard black box for card deck and shift it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Lift the gold text on playing cards box from the table and shift it.",
+    "Grab the hard black box for card deck and move it outward.",
+    "Grab the black box with smooth surface and move it off the table.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Use the left arm to grab the hard black box for card deck and relocate it.",
+    "Use the left arm to grab the black box with smooth surface and move it outward.",
+    "Use the left arm to grab the black box with smooth surface and relocate it.",
+    "Pick up the black box with smooth surface and shift it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Lift the black box with smooth surface from the table and shift it.",
+    "Grab the hard black box for card deck and move it outward.",
+    "Grab the hard black box for card deck and move it off the table.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Use the left arm to grab the black box with smooth surface and relocate it.",
+    "Use the left arm to grab the black box with smooth surface and move it outward.",
+    "Use the left arm to grab the gold text on playing cards box and relocate it.",
+    "Pick up the black box with smooth surface and shift it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Lift the hard black box for card deck from the table and shift it.",
+    "Grab the gold text on playing cards box and move it outward.",
+    "Grab the black box with smooth surface and move it off the table.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Use the left arm to grab the gold text on playing cards box and relocate it.",
+    "Use the left arm to grab the hard black box for card deck and move it outward.",
+    "Use the left arm to grab the black box with smooth surface and relocate it.",
+    "Pick up the black box with smooth surface and shift it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Lift the hard black box for card deck from the table and shift it.",
+    "Grab the gold text on playing cards box and move it outward.",
+    "Grab the black box with smooth surface and move it off the table.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Use the left arm to grab the black box with smooth surface and relocate it.",
+    "Use the left arm to grab the hard black box for card deck and move it outward.",
+    "Use the left arm to grab the gold text on playing cards box and relocate it.",
+    "Pick up the hard black box for card deck and shift it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Lift the black box with smooth surface from the table and shift it.",
+    "Grab the gold text on playing cards box and move it outward.",
+    "Grab the hard black box for card deck and move it off the table.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Use the left arm to grab the black box with smooth surface and relocate it.",
+    "Use the left arm to grab the black box with smooth surface and move it outward.",
+    "Use the left arm to grab the gold text on playing cards box and relocate it.",
+    "Pick up the black box with smooth surface and shift it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Lift the black box with smooth surface from the table and shift it.",
+    "Grab the gold text on playing cards box and move it outward.",
+    "Grab the hard black box for card deck and move it off the table.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Use the left arm to grab the black box with smooth surface and relocate it.",
+    "Use the left arm to grab the black box with smooth surface and move it outward.",
+    "Use the left arm to grab the black box with smooth surface and relocate it.",
+    "Pick up the gold text on playing cards box and shift it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Lift the hard black box for card deck from the table and shift it.",
+    "Grab the hard black box for card deck and move it outward.",
+    "Grab the hard black box for card deck and move it off the table.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Use the left arm to grab the black box with smooth surface and relocate it.",
+    "Use the left arm to grab the black box with smooth surface and move it outward.",
+    "Use the left arm to grab the black box with smooth surface and relocate it.",
+    "Pick up the black box with smooth surface and shift it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Lift the gold text on playing cards box from the table and shift it.",
+    "Grab the black box with smooth surface and move it outward.",
+    "Grab the hard black box for card deck and move it off the table.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Use the left arm to grab the hard black box for card deck and relocate it.",
+    "Use the left arm to grab the black box with smooth surface and move it outward."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10002111.json b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10002111.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cc02dd69521f57d870939b5ad03c806d769a05b
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10002111.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to pick the box with cards inside and shift it outward.",
+    "Use the right arm to grab the box holding playing cards and move it aside.",
+    "Move the rectangular box for card storage further outward after picking it up.",
+    "Grab the box with cards inside and move it further away.",
+    "Lift the rectangle-shaped cards box and relocate it off the table.",
+    "Grab the playing cards box with gold text and take it away from the table.",
+    "Grab the black box with rectangular shape and shift it farther away from the table.",
+    "Grab the palm-sized box for playing cards and set it beyond the table.",
+    "Lift the black box with rectangular shape and place it farther away with the right arm.",
+    "Use the right arm to grab the palm-sized box for playing cards and move it away.",
+    "Move the playing cards box with gold text off the table outward.",
+    "Move the rectangle-shaped cards box away from its position on the table.",
+    "Lift the rectangle-shaped cards box from the table and move it outward.",
+    "Pick the smooth black cards container and move it outward from the table.",
+    "Slide the palm-sized box for playing cards off the table outward.",
+    "Lift the cardboard playing cards box using the right arm and transfer it outward.",
+    "Move the cardboard playing cards box outward from the table.",
+    "Shift the small black box with cards outward after grabbing it.",
+    "Take the box holding playing cards and place it further outward.",
+    "Pick up the box with cards inside using the right arm and shift it outward.",
+    "Use the right arm to pick up the box with cards inside and push it outward.",
+    "Pick up the black playing cards box and move it farther outward.",
+    "Pick up the compact box for playing cards and place it further away.",
+    "Take the box with cards inside and move it away from the table.",
+    "Lift the palm-sized box for playing cards and slide it off the table.",
+    "Pick the black box with rectangular shape and slide it further outward.",
+    "Move the playing cards box with gold text farther from the table using the right arm.",
+    "Pick up the cardboard playing cards box and shift it further outward.",
+    "Lift the box with cards inside and push it off the table.",
+    "Use the right arm to pick up the smooth black cards container and move it.",
+    "Grab the box with cards inside with the right arm and move it outward.",
+    "Grab the cardboard playing cards box and move it further outward.",
+    "Pick up the rectangular box for card storage and move it away.",
+    "Pick up the rectangular box for card storage with the right arm and place it outward.",
+    "Take the box holding playing cards and push it further away.",
+    "Use the right arm to pick the rectangular box for card storage and move it outward.",
+    "Grab the playing cards box with gold text from the table and shift it outward.",
+    "Grab the small black box with cards using the right arm and move it outward.",
+    "Using the right arm, lift the cardboard playing cards box and move it outward.",
+    "Place the smooth black cards container away from the table outward.",
+    "Grab the cardboard playing cards box using the right arm and push it outward.",
+    "Shift the playing cards box with gold text outward by grabbing it with the right arm.",
+    "Take the black box with rectangular shape and place it beyond the table.",
+    "With the right arm, pick up the rectangle-shaped cards box and slide it outward.",
+    "Relocate the rectangle-shaped cards box farther outward using the right arm.",
+    "Lift the rectangle-shaped cards box and set it away from the table.",
+    "Pick the small black box with cards from the table and shift it outward.",
+    "Shift the cardboard playing cards box off the table to the side.",
+    "Lift the black playing cards box and shift it outward.",
+    "Lift the cardboard playing cards box with the right arm and move it outward.",
+    "Use the right arm to pick the rectangle-shaped cards box and shift it outward.",
+    "Use the right arm to grab the compact box for playing cards and move it aside.",
+    "Move the box holding playing cards further outward after picking it up.",
+    "Grab the black playing cards box and move it further away.",
+    "Lift the cardboard playing cards box and relocate it off the table.",
+    "Grab the rectangular box for card storage and take it away from the table.",
+    "Grab the black box with rectangular shape and shift it farther away from the table.",
+    "Grab the black playing cards box and set it beyond the table.",
+    "Lift the playing cards box with gold text and place it farther away with the right arm.",
+    "Use the right arm to grab the palm-sized box for playing cards and move it away.",
+    "Move the rectangular box for card storage off the table outward.",
+    "Move the box holding playing cards away from its position on the table.",
+    "Lift the rectangle-shaped cards box from the table and move it outward.",
+    "Pick the box with cards inside and move it outward from the table.",
+    "Slide the rectangle-shaped cards box off the table outward.",
+    "Lift the smooth black cards container using the right arm and transfer it outward.",
+    "Move the compact box for playing cards outward from the table.",
+    "Shift the compact box for playing cards outward after grabbing it.",
+    "Take the box with cards inside and place it further outward.",
+    "Pick up the box with cards inside using the right arm and shift it outward.",
+    "Use the right arm to pick up the palm-sized box for playing cards and push it outward.",
+    "Pick up the black box with rectangular shape and move it farther outward.",
+    "Pick up the cardboard playing cards box and place it further away.",
+    "Take the compact box for playing cards and move it away from the table.",
+    "Lift the smooth black cards container and slide it off the table.",
+    "Pick the black playing cards box and slide it further outward.",
+    "Move the black box with rectangular shape farther from the table using the right arm.",
+    "Pick up the black box with rectangular shape and shift it further outward.",
+    "Lift the black box with rectangular shape and push it off the table.",
+    "Use the right arm to pick up the smooth black cards container and move it.",
+    "Grab the box holding playing cards with the right arm and move it outward.",
+    "Grab the rectangle-shaped cards box and move it further outward.",
+    "Pick up the smooth black cards container and move it away.",
+    "Pick up the black box with rectangular shape with the right arm and place it outward.",
+    "Take the small black box with cards and push it further away.",
+    "Use the right arm to pick the box holding playing cards and move it outward.",
+    "Grab the box holding playing cards from the table and shift it outward.",
+    "Grab the black box with rectangular shape using the right arm and move it outward.",
+    "Using the right arm, lift the small black box with cards and move it outward.",
+    "Place the box with cards inside away from the table outward.",
+    "Grab the black box with rectangular shape using the right arm and push it outward.",
+    "Shift the rectangle-shaped cards box outward by grabbing it with the right arm.",
+    "Take the rectangle-shaped cards box and place it beyond the table.",
+    "With the right arm, pick up the box with cards inside and slide it outward.",
+    "Relocate the playing cards box with gold text farther outward using the right arm.",
+    "Lift the compact box for playing cards and set it away from the table.",
+    "Pick the box holding playing cards from the table and shift it outward.",
+    "Shift the black box with rectangular shape off the table to the side.",
+    "Lift the box with cards inside and shift it outward.",
+    "Lift the rectangular box for card storage with the right arm and move it outward."
+  ],
+  "unseen": [
+    "Pick up the hard black box for card deck and move it outward.",
+    "Pick up the hard black box for card deck and shift it outward.",
+    "Use the right arm to grab the black box with smooth surface and move it outward.",
+    "Grab the black box with smooth surface and move it outward.",
+    "Lift the gold text on playing cards box from the table and shift it.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Grab the gold text on playing cards box and move it off the table.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Use the right arm to grab the hard black box for card deck and relocate it.",
+    "Use the right arm to grab the gold text on playing cards box and relocate it.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Pick up the gold text on playing cards box and shift it outward.",
+    "Use the right arm to grab the black box with smooth surface and move it outward.",
+    "Grab the black box with smooth surface and move it outward.",
+    "Lift the hard black box for card deck from the table and shift it.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Grab the black box with smooth surface and move it off the table.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Use the right arm to grab the gold text on playing cards box and relocate it.",
+    "Use the right arm to grab the gold text on playing cards box and relocate it.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Pick up the black box with smooth surface and shift it outward.",
+    "Use the right arm to grab the gold text on playing cards box and move it outward.",
+    "Grab the hard black box for card deck and move it outward.",
+    "Lift the black box with smooth surface from the table and shift it.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Grab the black box with smooth surface and move it off the table.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Use the right arm to grab the gold text on playing cards box and relocate it.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Pick up the black box with smooth surface and shift it outward.",
+    "Use the right arm to grab the gold text on playing cards box and move it outward.",
+    "Grab the hard black box for card deck and move it outward.",
+    "Lift the black box with smooth surface from the table and shift it.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Grab the black box with smooth surface and move it off the table.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Pick up the gold text on playing cards box and shift it outward.",
+    "Use the right arm to grab the hard black box for card deck and move it outward.",
+    "Grab the black box with smooth surface and move it outward.",
+    "Lift the black box with smooth surface from the table and shift it.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Grab the hard black box for card deck and move it off the table.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Pick up the hard black box for card deck and shift it outward.",
+    "Use the right arm to grab the hard black box for card deck and move it outward.",
+    "Grab the hard black box for card deck and move it outward.",
+    "Lift the gold text on playing cards box from the table and shift it.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Grab the hard black box for card deck and move it off the table.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Use the right arm to grab the hard black box for card deck and relocate it.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Pick up the hard black box for card deck and shift it outward.",
+    "Use the right arm to grab the gold text on playing cards box and move it outward.",
+    "Grab the gold text on playing cards box and move it outward.",
+    "Lift the gold text on playing cards box from the table and shift it.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Grab the hard black box for card deck and move it off the table.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Pick up the hard black box for card deck and shift it outward.",
+    "Use the right arm to grab the hard black box for card deck and move it outward.",
+    "Grab the black box with smooth surface and move it outward.",
+    "Lift the black box with smooth surface from the table and shift it.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Grab the black box with smooth surface and move it off the table.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Use the right arm to grab the gold text on playing cards box and relocate it.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Pick up the hard black box for card deck and shift it outward.",
+    "Use the right arm to grab the gold text on playing cards box and move it outward.",
+    "Grab the gold text on playing cards box and move it outward.",
+    "Lift the gold text on playing cards box from the table and shift it.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Grab the hard black box for card deck and move it off the table.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Use the right arm to grab the hard black box for card deck and relocate it.",
+    "Use the right arm to grab the gold text on playing cards box and relocate it.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Pick up the black box with smooth surface and shift it outward.",
+    "Use the right arm to grab the hard black box for card deck and move it outward.",
+    "Grab the black box with smooth surface and move it outward.",
+    "Lift the gold text on playing cards box from the table and shift it.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Grab the hard black box for card deck and move it off the table.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Use the right arm to grab the gold text on playing cards box and relocate it.",
+    "Use the right arm to grab the black box with smooth surface and relocate it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10002165.json b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10002165.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f7c0fb959e43f0ab6d45946b66504ceeda3aa7b
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10002165.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Relocate the rectangular playingcards case farther outward using the left arm.",
+    "Use the left arm to pick the compact red playingcards pack and move it outward.",
+    "Use the left arm to pick up the compact red playingcards pack and move it.",
+    "Lift the red playingcards box from the table and move it outward.",
+    "Grab the hand-sized playingcards container using the left arm and push it outward.",
+    "Lift the hand-sized playingcards container with the left arm and move it outward.",
+    "Lift the compact red playingcards pack and slide it off the table.",
+    "Take the playingcards box with white accents and place it beyond the table.",
+    "Grab the smooth playingcards pack and shift it farther away from the table.",
+    "Move the red playingcards box outward from the table.",
+    "Lift the playingcards box with white accents and set it away from the table.",
+    "Shift the red and yellow playingcards case outward after grabbing it.",
+    "Using the left arm, lift the yellow and red playingcards box and move it outward.",
+    "Grab the yellow and red playingcards box with the left arm and move it outward.",
+    "Lift the box for playingcards and relocate it off the table.",
+    "Move the red playingcards box farther from the table using the left arm.",
+    "Take the smooth playingcards pack and place it further outward.",
+    "Take the small playingcards pack and push it further away.",
+    "Pick up the playingcards storage box and move it away.",
+    "Lift the rectangular playingcards case and shift it outward.",
+    "Lift the box for playingcards and place it farther away with the left arm.",
+    "Grab the smooth playingcards pack from the table and shift it outward.",
+    "Grab the box for playingcards and move it further away.",
+    "Pick the compact red playingcards pack and slide it further outward.",
+    "Move the box for playingcards off the table outward.",
+    "Place the glossy rectangular playingcards box away from the table outward.",
+    "Pick up the playingcards storage box and place it further away.",
+    "Lift the hand-sized playingcards container and push it off the table.",
+    "Pick up the yellow and red playingcards box using the left arm and shift it outward.",
+    "Pick up the box for playingcards with the left arm and place it outward.",
+    "Slide the red and yellow playingcards case off the table outward.",
+    "Grab the glossy rectangular playingcards box and take it away from the table.",
+    "Grab the compact red playingcards pack using the left arm and move it outward.",
+    "Use the left arm to pick the yellow and red playingcards box and shift it outward.",
+    "With the left arm, pick up the rectangular playingcards case and slide it outward.",
+    "Move the playingcards box with white accents away from its position on the table.",
+    "Pick the playingcards box with white accents from the table and shift it outward.",
+    "Grab the playingcards storage box and set it beyond the table.",
+    "Use the left arm to grab the smooth playingcards pack and move it aside.",
+    "Pick up the red and yellow playingcards case and move it farther outward.",
+    "Pick up the box for playingcards and shift it further outward.",
+    "Take the playingcards box with white accents and move it away from the table.",
+    "Shift the red and yellow playingcards case outward by grabbing it with the left arm.",
+    "Use the left arm to pick up the playingcards storage box and push it outward.",
+    "Pick the box for playingcards and move it outward from the table.",
+    "Grab the red and yellow playingcards case and move it further outward.",
+    "Use the left arm to grab the smooth playingcards pack and move it away.",
+    "Lift the hand-sized playingcards container using the left arm and transfer it outward.",
+    "Move the red playingcards box further outward after picking it up.",
+    "Shift the playingcards storage box off the table to the side.",
+    "Relocate the small playingcards pack farther outward using the left arm.",
+    "Use the left arm to pick the compact red playingcards pack and move it outward.",
+    "Use the left arm to pick up the compact red playingcards pack and move it.",
+    "Lift the playingcards storage box from the table and move it outward.",
+    "Grab the smooth playingcards pack using the left arm and push it outward.",
+    "Lift the playingcards box with white accents with the left arm and move it outward.",
+    "Lift the smooth playingcards pack and slide it off the table.",
+    "Take the red playingcards box and place it beyond the table.",
+    "Grab the red and yellow playingcards case and shift it farther away from the table.",
+    "Move the compact red playingcards pack outward from the table.",
+    "Lift the smooth playingcards pack and set it away from the table.",
+    "Shift the playingcards box with white accents outward after grabbing it.",
+    "Using the left arm, lift the smooth playingcards pack and move it outward.",
+    "Grab the glossy rectangular playingcards box with the left arm and move it outward.",
+    "Lift the box for playingcards and relocate it off the table.",
+    "Move the red and yellow playingcards case farther from the table using the left arm.",
+    "Take the red and yellow playingcards case and place it further outward.",
+    "Take the compact red playingcards pack and push it further away.",
+    "Pick up the compact red playingcards pack and move it away.",
+    "Lift the playingcards box with white accents and shift it outward.",
+    "Lift the box for playingcards and place it farther away with the left arm.",
+    "Grab the compact red playingcards pack from the table and shift it outward.",
+    "Grab the hand-sized playingcards container and move it further away.",
+    "Pick the smooth playingcards pack and slide it further outward.",
+    "Move the glossy rectangular playingcards box off the table outward.",
+    "Place the rectangular playingcards case away from the table outward.",
+    "Pick up the smooth playingcards pack and place it further away.",
+    "Lift the box for playingcards and push it off the table.",
+    "Pick up the glossy rectangular playingcards box using the left arm and shift it outward.",
+    "Pick up the playingcards box with white accents with the left arm and place it outward.",
+    "Slide the rectangular playingcards case off the table outward.",
+    "Grab the hand-sized playingcards container and take it away from the table.",
+    "Grab the glossy rectangular playingcards box using the left arm and move it outward.",
+    "Use the left arm to pick the red playingcards box and shift it outward.",
+    "With the left arm, pick up the playingcards storage box and slide it outward.",
+    "Move the small playingcards pack away from its position on the table.",
+    "Pick the rectangular playingcards case from the table and shift it outward.",
+    "Grab the smooth playingcards pack and set it beyond the table.",
+    "Use the left arm to grab the box for playingcards and move it aside.",
+    "Pick up the small playingcards pack and move it farther outward.",
+    "Pick up the compact red playingcards pack and shift it further outward.",
+    "Take the hand-sized playingcards container and move it away from the table.",
+    "Shift the box for playingcards outward by grabbing it with the left arm.",
+    "Use the left arm to pick up the compact red playingcards pack and push it outward.",
+    "Pick the rectangular playingcards case and move it outward from the table.",
+    "Grab the hand-sized playingcards container and move it further outward.",
+    "Use the left arm to grab the red playingcards box and move it away.",
+    "Lift the hand-sized playingcards container using the left arm and transfer it outward.",
+    "Move the hand-sized playingcards container further outward after picking it up.",
+    "Shift the box for playingcards off the table to the side."
+  ],
+  "unseen": [
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Use the left arm to grab the small box for playingcards and move it outward.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Use the left arm to grab the small box for playingcards and relocate it.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Use the left arm to grab the rectangular red playingcards holder and move it outward.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Grab the small box for playingcards and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Use the left arm to grab the small box for playingcards and relocate it.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Use the left arm to grab the rectangular red playingcards holder and move it outward.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Use the left arm to grab the small box for playingcards and relocate it.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Use the left arm to grab the playingcards with red packaging and move it outward.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Use the left arm to grab the small box for playingcards and move it outward.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Use the left arm to grab the small box for playingcards and relocate it.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Use the left arm to grab the playingcards with red packaging and move it outward.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Grab the small box for playingcards and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Use the left arm to grab the rectangular red playingcards holder and move it outward.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Use the left arm to grab the playingcards with red packaging and move it outward.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Use the left arm to grab the small box for playingcards and relocate it.",
+    "Use the left arm to grab the small box for playingcards and relocate it.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Use the left arm to grab the playingcards with red packaging and move it outward.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Use the left arm to grab the small box for playingcards and move it outward.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Pick up the playingcards with red packaging and move it outward."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10002250.json b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10002250.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5dac5649e690e8c915d2b47d5a6c586159f6474
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10002250.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the hand-sized playingcards container and move it aside.",
+    "Move the rectangular playingcards case outward from the table.",
+    "Pick up the small playingcards pack and shift it further outward.",
+    "Use the left arm to pick up the red and yellow playingcards case and move it.",
+    "Take the red playingcards box and move it away from the table.",
+    "Move the compact red playingcards pack further outward after picking it up.",
+    "Take the playingcards storage box and place it beyond the table.",
+    "Use the left arm to grab the smooth playingcards pack and move it away.",
+    "Lift the red and yellow playingcards case and push it off the table.",
+    "Grab the hand-sized playingcards container using the left arm and push it outward.",
+    "Use the left arm to pick up the small playingcards pack and push it outward.",
+    "Grab the yellow and red playingcards box and move it further away.",
+    "Take the hand-sized playingcards container and place it further outward.",
+    "Lift the yellow and red playingcards box and place it farther away with the left arm.",
+    "Slide the playingcards storage box off the table outward.",
+    "Grab the glossy rectangular playingcards box and set it beyond the table.",
+    "Relocate the compact red playingcards pack farther outward using the left arm.",
+    "Lift the red and yellow playingcards case and slide it off the table.",
+    "Pick up the box for playingcards and move it away.",
+    "With the left arm, pick up the small playingcards pack and slide it outward.",
+    "Lift the playingcards box with white accents and shift it outward.",
+    "Lift the hand-sized playingcards container and set it away from the table.",
+    "Lift the red playingcards box from the table and move it outward.",
+    "Shift the playingcards box with white accents outward after grabbing it.",
+    "Grab the playingcards box with white accents using the left arm and move it outward.",
+    "Place the playingcards box with white accents away from the table outward.",
+    "Grab the small playingcards pack and shift it farther away from the table.",
+    "Grab the box for playingcards from the table and shift it outward.",
+    "Pick up the rectangular playingcards case and move it farther outward.",
+    "Grab the compact red playingcards pack with the left arm and move it outward.",
+    "Pick up the rectangular playingcards case and place it further away.",
+    "Pick the playingcards storage box and move it outward from the table.",
+    "Pick up the rectangular playingcards case with the left arm and place it outward.",
+    "Move the yellow and red playingcards box farther from the table using the left arm.",
+    "Lift the playingcards storage box with the left arm and move it outward.",
+    "Pick the playingcards storage box and slide it further outward.",
+    "Grab the yellow and red playingcards box and take it away from the table.",
+    "Take the rectangular playingcards case and push it further away.",
+    "Move the hand-sized playingcards container away from its position on the table.",
+    "Use the left arm to pick the rectangular playingcards case and move it outward.",
+    "Lift the red playingcards box using the left arm and transfer it outward.",
+    "Move the rectangular playingcards case off the table outward.",
+    "Lift the small playingcards pack and relocate it off the table.",
+    "Grab the box for playingcards and move it further outward.",
+    "Use the left arm to pick the playingcards box with white accents and shift it outward.",
+    "Pick the red playingcards box from the table and shift it outward.",
+    "Shift the rectangular playingcards case off the table to the side.",
+    "Using the left arm, lift the glossy rectangular playingcards box and move it outward.",
+    "Pick up the playingcards box with white accents using the left arm and shift it outward.",
+    "Shift the red playingcards box outward by grabbing it with the left arm.",
+    "Use the left arm to grab the red playingcards box and move it aside.",
+    "Move the yellow and red playingcards box outward from the table.",
+    "Pick up the small playingcards pack and shift it further outward.",
+    "Use the left arm to pick up the glossy rectangular playingcards box and move it.",
+    "Take the playingcards storage box and move it away from the table.",
+    "Move the red playingcards box further outward after picking it up.",
+    "Take the rectangular playingcards case and place it beyond the table.",
+    "Use the left arm to grab the red and yellow playingcards case and move it away.",
+    "Lift the playingcards storage box and push it off the table.",
+    "Grab the red and yellow playingcards case using the left arm and push it outward.",
+    "Use the left arm to pick up the red and yellow playingcards case and push it outward.",
+    "Grab the hand-sized playingcards container and move it further away.",
+    "Take the playingcards box with white accents and place it further outward.",
+    "Lift the rectangular playingcards case and place it farther away with the left arm.",
+    "Slide the playingcards storage box off the table outward.",
+    "Grab the small playingcards pack and set it beyond the table.",
+    "Relocate the playingcards storage box farther outward using the left arm.",
+    "Lift the playingcards storage box and slide it off the table.",
+    "Pick up the yellow and red playingcards box and move it away.",
+    "With the left arm, pick up the yellow and red playingcards box and slide it outward.",
+    "Lift the box for playingcards and shift it outward.",
+    "Lift the red playingcards box and set it away from the table.",
+    "Lift the playingcards storage box from the table and move it outward.",
+    "Shift the playingcards storage box outward after grabbing it.",
+    "Grab the compact red playingcards pack using the left arm and move it outward.",
+    "Place the hand-sized playingcards container away from the table outward.",
+    "Grab the yellow and red playingcards box and shift it farther away from the table.",
+    "Grab the glossy rectangular playingcards box from the table and shift it outward.",
+    "Pick up the glossy rectangular playingcards box and move it farther outward.",
+    "Grab the box for playingcards with the left arm and move it outward.",
+    "Pick up the playingcards storage box and place it further away.",
+    "Pick the playingcards box with white accents and move it outward from the table.",
+    "Pick up the box for playingcards with the left arm and place it outward.",
+    "Move the smooth playingcards pack farther from the table using the left arm.",
+    "Lift the red and yellow playingcards case with the left arm and move it outward.",
+    "Pick the box for playingcards and slide it further outward.",
+    "Grab the glossy rectangular playingcards box and take it away from the table.",
+    "Take the glossy rectangular playingcards box and push it further away.",
+    "Move the glossy rectangular playingcards box away from its position on the table.",
+    "Use the left arm to pick the red and yellow playingcards case and move it outward.",
+    "Lift the hand-sized playingcards container using the left arm and transfer it outward.",
+    "Move the yellow and red playingcards box off the table outward.",
+    "Lift the red and yellow playingcards case and relocate it off the table.",
+    "Grab the rectangular playingcards case and move it further outward.",
+    "Use the left arm to pick the small playingcards pack and shift it outward.",
+    "Pick the playingcards box with white accents from the table and shift it outward.",
+    "Shift the small playingcards pack off the table to the side.",
+    "Using the left arm, lift the glossy rectangular playingcards box and move it outward.",
+    "Pick up the red and yellow playingcards case using the left arm and shift it outward.",
+    "Shift the rectangular playingcards case outward by grabbing it with the left arm."
+  ],
+  "unseen": [
+    "Use the left arm to grab the small box for playingcards and move it outward.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Use the left arm to grab the small box for playingcards and relocate it.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Use the left arm to grab the small box for playingcards and move it outward.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Use the left arm to grab the small box for playingcards and relocate it.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Use the left arm to grab the rectangular red playingcards holder and move it outward.",
+    "Grab the small box for playingcards and move it outward.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Use the left arm to grab the playingcards with red packaging and move it outward.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Use the left arm to grab the small box for playingcards and move it outward.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Use the left arm to grab the small box for playingcards and move it outward.",
+    "Grab the small box for playingcards and move it outward.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Use the left arm to grab the small box for playingcards and move it outward.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Use the left arm to grab the rectangular red playingcards holder and move it outward.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Use the left arm to grab the small box for playingcards and relocate it.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Use the left arm to grab the rectangular red playingcards holder and move it outward.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Use the left arm to grab the small box for playingcards and relocate it.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Use the left arm to grab the playingcards with red packaging and move it outward.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Use the left arm to grab the small box for playingcards and relocate it.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Lift the playingcards with red packaging from the table and shift it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10003057.json b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10003057.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b2c8d2650e56ee0e4cc0c661a326d2e4ecc6fbd
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10003057.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the left arm, lift the small playingcards container and move it outward.",
+    "Use the left arm to pick up the palm-sized playingcards carton and push it outward.",
+    "Move the palm-sized playingcards carton away from its position on the table.",
+    "Slide the rectangular blue playingcards case off the table outward.",
+    "Move the palm-sized playingcards carton off the table outward.",
+    "Grab the rectangular blue playingcards case and shift it farther away from the table.",
+    "Use the left arm to pick the card box with golden designs and move it outward.",
+    "Lift the palm-sized playingcards carton and push it off the table.",
+    "Shift the blue pack holding playingcards off the table to the side.",
+    "Use the left arm to grab the blue and white playingcards packaging and move it aside.",
+    "Lift the smooth playingcards holder and slide it off the table.",
+    "Lift the rectangular blue playingcards case from the table and move it outward.",
+    "Grab the card box with golden designs with the left arm and move it outward.",
+    "Lift the blue and white playingcards packaging and place it farther away with the left arm.",
+    "Lift the blue carton for playingcards and set it away from the table.",
+    "Pick up the blue carton for playingcards and shift it further outward.",
+    "Shift the smooth playingcards holder outward by grabbing it with the left arm.",
+    "Grab the blue pack holding playingcards from the table and shift it outward.",
+    "Lift the blue pack holding playingcards using the left arm and transfer it outward.",
+    "Grab the palm-sized playingcards carton and move it further away.",
+    "Place the blue playingcards box away from the table outward.",
+    "Grab the palm-sized playingcards carton using the left arm and move it outward.",
+    "Pick up the small playingcards container with the left arm and place it outward.",
+    "Pick the palm-sized playingcards carton from the table and shift it outward.",
+    "Relocate the playingcards box with white symbols farther outward using the left arm.",
+    "Take the small playingcards container and place it beyond the table.",
+    "With the left arm, pick up the smooth playingcards holder and slide it outward.",
+    "Pick up the blue and white playingcards packaging and place it further away.",
+    "Lift the blue carton for playingcards with the left arm and move it outward.",
+    "Pick the playingcards box with white symbols and move it outward from the table.",
+    "Move the rectangular blue playingcards case outward from the table.",
+    "Lift the playingcards pack with blue top and shift it outward.",
+    "Grab the playingcards box with white symbols using the left arm and push it outward.",
+    "Use the left arm to grab the rectangular blue playingcards case and move it away.",
+    "Grab the rectangular blue playingcards case and move it further outward.",
+    "Use the left arm to pick the blue playingcards box and shift it outward.",
+    "Pick up the blue pack holding playingcards and move it farther outward.",
+    "Grab the rectangular blue playingcards case and take it away from the table.",
+    "Pick up the blue carton for playingcards using the left arm and shift it outward.",
+    "Grab the card box with golden designs and set it beyond the table.",
+    "Lift the blue playingcards box and relocate it off the table.",
+    "Move the blue pack holding playingcards further outward after picking it up.",
+    "Use the left arm to pick up the rectangular blue playingcards case and move it.",
+    "Shift the rectangular blue playingcards case outward after grabbing it.",
+    "Pick the rectangular blue playingcards case and slide it further outward.",
+    "Take the playingcards box with white symbols and move it away from the table.",
+    "Take the playingcards box with white symbols and place it further outward.",
+    "Pick up the rectangular blue playingcards case and move it away.",
+    "Move the small playingcards container farther from the table using the left arm.",
+    "Take the card box with golden designs and push it further away.",
+    "Using the left arm, lift the palm-sized playingcards carton and move it outward.",
+    "Use the left arm to pick up the palm-sized playingcards carton and push it outward.",
+    "Move the playingcards box with white symbols away from its position on the table.",
+    "Slide the smooth playingcards holder off the table outward.",
+    "Move the small playingcards container off the table outward.",
+    "Grab the rectangular blue playingcards case and shift it farther away from the table.",
+    "Use the left arm to pick the blue playingcards box and move it outward.",
+    "Lift the box of playingcards and push it off the table.",
+    "Shift the blue carton for playingcards off the table to the side.",
+    "Use the left arm to grab the blue carton for playingcards and move it aside.",
+    "Lift the blue and white playingcards packaging and slide it off the table.",
+    "Lift the blue carton for playingcards from the table and move it outward.",
+    "Grab the blue playingcards box with the left arm and move it outward.",
+    "Lift the palm-sized playingcards carton and place it farther away with the left arm.",
+    "Lift the small playingcards container and set it away from the table.",
+    "Pick up the blue and white playingcards packaging and shift it further outward.",
+    "Shift the small playingcards container outward by grabbing it with the left arm.",
+    "Grab the blue pack holding playingcards from the table and shift it outward.",
+    "Lift the palm-sized playingcards carton using the left arm and transfer it outward.",
+    "Grab the blue pack holding playingcards and move it further away.",
+    "Place the playingcards box with white symbols away from the table outward.",
+    "Grab the blue playingcards box using the left arm and move it outward.",
+    "Pick up the box of playingcards with the left arm and place it outward.",
+    "Pick the box of playingcards from the table and shift it outward.",
+    "Relocate the blue carton for playingcards farther outward using the left arm.",
+    "Take the playingcards box with white symbols and place it beyond the table.",
+    "With the left arm, pick up the rectangular blue playingcards case and slide it outward.",
+    "Pick up the small playingcards container and place it further away.",
+    "Lift the blue carton for playingcards with the left arm and move it outward.",
+    "Pick the small playingcards container and move it outward from the table.",
+    "Move the playingcards pack with blue top outward from the table.",
+    "Lift the playingcards pack with blue top and shift it outward.",
+    "Grab the blue and white playingcards packaging using the left arm and push it outward.",
+    "Use the left arm to grab the small playingcards container and move it away.",
+    "Grab the palm-sized playingcards carton and move it further outward.",
+    "Use the left arm to pick the small playingcards container and shift it outward.",
+    "Pick up the box of playingcards and move it farther outward.",
+    "Grab the box of playingcards and take it away from the table.",
+    "Pick up the box of playingcards using the left arm and shift it outward.",
+    "Grab the rectangular blue playingcards case and set it beyond the table.",
+    "Lift the small playingcards container and relocate it off the table.",
+    "Move the card box with golden designs further outward after picking it up.",
+    "Use the left arm to pick up the blue playingcards box and move it.",
+    "Shift the smooth playingcards holder outward after grabbing it.",
+    "Pick the playingcards box with white symbols and slide it further outward.",
+    "Take the blue playingcards box and move it away from the table.",
+    "Take the box of playingcards and place it further outward.",
+    "Pick up the palm-sized playingcards carton and move it away.",
+    "Move the card box with golden designs farther from the table using the left arm.",
+    "Take the blue pack holding playingcards and push it further away."
+  ],
+  "unseen": [
+    "Grab the rectangular playingcards pack and move it off the table.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Use the left arm to grab the rectangular playingcards pack and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Lift the rectangular playingcards pack from the table and shift it.",
+    "Pick up the rectangular playingcards pack and shift it outward.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Use the left arm to grab the rectangular playingcards pack and relocate it.",
+    "Grab the small packet of playingcards and move it outward.",
+    "Grab the small packet of playingcards and move it off the table.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Use the left arm to grab the rectangular playingcards pack and move it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Lift the rectangular playingcards case with patterns from the table and shift it.",
+    "Pick up the rectangular playingcards case with patterns and shift it outward.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Use the left arm to grab the rectangular playingcards pack and relocate it.",
+    "Grab the small packet of playingcards and move it outward.",
+    "Grab the small packet of playingcards and move it off the table.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Use the left arm to grab the rectangular playingcards pack and move it outward.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Lift the rectangular playingcards case with patterns from the table and shift it.",
+    "Pick up the small packet of playingcards and shift it outward.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Use the left arm to grab the small packet of playingcards and relocate it.",
+    "Grab the rectangular playingcards case with patterns and move it outward.",
+    "Grab the rectangular playingcards case with patterns and move it off the table.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Use the left arm to grab the small packet of playingcards and move it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Lift the small packet of playingcards from the table and shift it.",
+    "Pick up the small packet of playingcards and shift it outward.",
+    "Use the left arm to grab the rectangular playingcards pack and relocate it.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Grab the rectangular playingcards pack and move it outward.",
+    "Grab the small packet of playingcards and move it off the table.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Lift the rectangular playingcards case with patterns from the table and shift it.",
+    "Pick up the small packet of playingcards and shift it outward.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Use the left arm to grab the rectangular playingcards pack and relocate it.",
+    "Grab the small packet of playingcards and move it outward.",
+    "Grab the small packet of playingcards and move it off the table.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Lift the rectangular playingcards pack from the table and shift it.",
+    "Pick up the small packet of playingcards and shift it outward.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Grab the rectangular playingcards pack and move it outward.",
+    "Grab the small packet of playingcards and move it off the table.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Use the left arm to grab the small packet of playingcards and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Lift the rectangular playingcards case with patterns from the table and shift it.",
+    "Pick up the rectangular playingcards pack and shift it outward.",
+    "Use the left arm to grab the rectangular playingcards pack and relocate it.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Grab the rectangular playingcards pack and move it outward.",
+    "Grab the rectangular playingcards pack and move it off the table.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Use the left arm to grab the small packet of playingcards and move it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Lift the rectangular playingcards pack from the table and shift it.",
+    "Pick up the rectangular playingcards case with patterns and shift it outward.",
+    "Use the left arm to grab the small packet of playingcards and relocate it.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Grab the rectangular playingcards case with patterns and move it outward.",
+    "Grab the rectangular playingcards case with patterns and move it off the table.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Lift the small packet of playingcards from the table and shift it.",
+    "Pick up the small packet of playingcards and shift it outward.",
+    "Use the left arm to grab the rectangular playingcards pack and relocate it.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Use the left arm to grab the rectangular playingcards pack and relocate it.",
+    "Grab the small packet of playingcards and move it outward.",
+    "Grab the small packet of playingcards and move it off the table.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Lift the rectangular playingcards pack from the table and shift it.",
+    "Pick up the rectangular playingcards case with patterns and shift it outward.",
+    "Use the left arm to grab the small packet of playingcards and relocate it.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Use the left arm to grab the small packet of playingcards and relocate it.",
+    "Grab the small packet of playingcards and move it outward."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10003065.json b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10003065.json
new file mode 100644
index 0000000000000000000000000000000000000000..e08e817ace03a95d2ecd95fd24aef8d8846c2ab6
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10003065.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the small playingcards pack off the table outward.",
+    "Use the right arm to pick the small playingcards pack and shift it outward.",
+    "Lift the box for playingcards and relocate it off the table.",
+    "Lift the red playingcards box using the right arm and transfer it outward.",
+    "Lift the rectangular playingcards case and set it away from the table.",
+    "Move the smooth playingcards pack outward from the table.",
+    "Pick the glossy rectangular playingcards box and move it outward from the table.",
+    "Move the smooth playingcards pack away from its position on the table.",
+    "Lift the hand-sized playingcards container with the right arm and move it outward.",
+    "Use the right arm to grab the box for playingcards and move it away.",
+    "Use the right arm to grab the smooth playingcards pack and move it aside.",
+    "Use the right arm to pick up the red playingcards box and move it.",
+    "Move the hand-sized playingcards container further outward after picking it up.",
+    "Grab the compact red playingcards pack with the right arm and move it outward.",
+    "Place the red playingcards box away from the table outward.",
+    "Pick up the rectangular playingcards case and move it away.",
+    "Lift the hand-sized playingcards container and slide it off the table.",
+    "Using the right arm, lift the playingcards box with white accents and move it outward.",
+    "Pick the yellow and red playingcards box from the table and shift it outward.",
+    "Slide the playingcards storage box off the table outward.",
+    "Take the compact red playingcards pack and move it away from the table.",
+    "Lift the hand-sized playingcards container and shift it outward.",
+    "Shift the red playingcards box outward by grabbing it with the right arm.",
+    "Lift the glossy rectangular playingcards box from the table and move it outward.",
+    "Grab the yellow and red playingcards box and move it further outward.",
+    "Pick up the box for playingcards and place it further away.",
+    "Grab the box for playingcards and set it beyond the table.",
+    "Take the box for playingcards and place it further outward.",
+    "Pick up the playingcards box with white accents with the right arm and place it outward.",
+    "Take the playingcards box with white accents and push it further away.",
+    "Relocate the compact red playingcards pack farther outward using the right arm.",
+    "Lift the yellow and red playingcards box and place it farther away with the right arm.",
+    "Pick the smooth playingcards pack and slide it further outward.",
+    "Pick up the playingcards box with white accents and shift it further outward.",
+    "Grab the compact red playingcards pack using the right arm and move it outward.",
+    "Grab the red playingcards box from the table and shift it outward.",
+    "Grab the compact red playingcards pack and move it further away.",
+    "Shift the glossy rectangular playingcards box off the table to the side.",
+    "Pick up the smooth playingcards pack using the right arm and shift it outward.",
+    "Use the right arm to pick up the playingcards box with white accents and push it outward.",
+    "Grab the smooth playingcards pack and take it away from the table.",
+    "Grab the playingcards storage box and shift it farther away from the table.",
+    "With the right arm, pick up the compact red playingcards pack and slide it outward.",
+    "Shift the compact red playingcards pack outward after grabbing it.",
+    "Lift the small playingcards pack and push it off the table.",
+    "Take the playingcards storage box and place it beyond the table.",
+    "Move the small playingcards pack farther from the table using the right arm.",
+    "Use the right arm to pick the playingcards box with white accents and move it outward.",
+    "Pick up the rectangular playingcards case and move it farther outward.",
+    "Grab the box for playingcards using the right arm and push it outward.",
+    "Move the small playingcards pack off the table outward.",
+    "Use the right arm to pick the playingcards box with white accents and shift it outward.",
+    "Lift the red and yellow playingcards case and relocate it off the table.",
+    "Lift the hand-sized playingcards container using the right arm and transfer it outward.",
+    "Lift the box for playingcards and set it away from the table.",
+    "Move the playingcards box with white accents outward from the table.",
+    "Pick the yellow and red playingcards box and move it outward from the table.",
+    "Move the red and yellow playingcards case away from its position on the table.",
+    "Lift the playingcards storage box with the right arm and move it outward.",
+    "Use the right arm to grab the red and yellow playingcards case and move it away.",
+    "Use the right arm to grab the smooth playingcards pack and move it aside.",
+    "Use the right arm to pick up the glossy rectangular playingcards box and move it.",
+    "Move the hand-sized playingcards container further outward after picking it up.",
+    "Grab the smooth playingcards pack with the right arm and move it outward.",
+    "Place the playingcards storage box away from the table outward.",
+    "Pick up the playingcards box with white accents and move it away.",
+    "Lift the box for playingcards and slide it off the table.",
+    "Using the right arm, lift the glossy rectangular playingcards box and move it outward.",
+    "Pick the glossy rectangular playingcards box from the table and shift it outward.",
+    "Slide the red playingcards box off the table outward.",
+    "Take the yellow and red playingcards box and move it away from the table.",
+    "Lift the yellow and red playingcards box and shift it outward.",
+    "Shift the playingcards box with white accents outward by grabbing it with the right arm.",
+    "Lift the playingcards box with white accents from the table and move it outward.",
+    "Grab the playingcards box with white accents and move it further outward.",
+    "Pick up the box for playingcards and place it further away.",
+    "Grab the playingcards storage box and set it beyond the table.",
+    "Take the playingcards storage box and place it further outward.",
+    "Pick up the box for playingcards with the right arm and place it outward.",
+    "Take the yellow and red playingcards box and push it further away.",
+    "Relocate the red playingcards box farther outward using the right arm.",
+    "Lift the compact red playingcards pack and place it farther away with the right arm.",
+    "Pick the yellow and red playingcards box and slide it further outward.",
+    "Pick up the compact red playingcards pack and shift it further outward.",
+    "Grab the smooth playingcards pack using the right arm and move it outward.",
+    "Grab the red and yellow playingcards case from the table and shift it outward.",
+    "Grab the yellow and red playingcards box and move it further away.",
+    "Shift the box for playingcards off the table to the side.",
+    "Pick up the small playingcards pack using the right arm and shift it outward.",
+    "Use the right arm to pick up the box for playingcards and push it outward.",
+    "Grab the compact red playingcards pack and take it away from the table.",
+    "Grab the smooth playingcards pack and shift it farther away from the table.",
+    "With the right arm, pick up the compact red playingcards pack and slide it outward.",
+    "Shift the red playingcards box outward after grabbing it.",
+    "Lift the small playingcards pack and push it off the table.",
+    "Take the playingcards storage box and place it beyond the table.",
+    "Move the yellow and red playingcards box farther from the table using the right arm.",
+    "Use the right arm to pick the playingcards box with white accents and move it outward.",
+    "Pick up the hand-sized playingcards container and move it farther outward.",
+    "Grab the red playingcards box using the right arm and push it outward."
+  ],
+  "unseen": [
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Use the right arm to grab the playingcards with red packaging and move it outward.",
+    "Use the right arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Use the right arm to grab the rectangular red playingcards holder and move it outward.",
+    "Use the right arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Use the right arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Grab the small box for playingcards and move it outward.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Use the right arm to grab the playingcards with red packaging and move it outward.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Use the right arm to grab the small box for playingcards and move it outward.",
+    "Use the right arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Use the right arm to grab the playingcards with red packaging and move it outward.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Use the right arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Use the right arm to grab the rectangular red playingcards holder and move it outward.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Use the right arm to grab the playingcards with red packaging and move it outward.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Use the right arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Use the right arm to grab the rectangular red playingcards holder and move it outward.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Grab the small box for playingcards and move it outward.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Use the right arm to grab the small box for playingcards and move it outward.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Use the right arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Use the right arm to grab the playingcards with red packaging and move it outward.",
+    "Use the right arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Pick up the playingcards with red packaging and move it outward."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10003069.json b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10003069.json
new file mode 100644
index 0000000000000000000000000000000000000000..7df7387da3f71c215841515ac9d72d869704e010
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10003069.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shift the yellow and red playingcards box outward by grabbing it with the left arm.",
+    "Slide the red and yellow playingcards case off the table outward.",
+    "Grab the red playingcards box and set it beyond the table.",
+    "Use the left arm to pick the playingcards storage box and move it outward.",
+    "Use the left arm to grab the rectangular playingcards case and move it away.",
+    "Place the rectangular playingcards case away from the table outward.",
+    "Pick up the rectangular playingcards case and move it away.",
+    "Grab the playingcards box with white accents from the table and shift it outward.",
+    "Move the glossy rectangular playingcards box farther from the table using the left arm.",
+    "Grab the red playingcards box using the left arm and move it outward.",
+    "Lift the playingcards box with white accents and shift it outward.",
+    "Shift the rectangular playingcards case off the table to the side.",
+    "Move the hand-sized playingcards container outward from the table.",
+    "Lift the glossy rectangular playingcards box and slide it off the table.",
+    "Pick up the red and yellow playingcards case using the left arm and shift it outward.",
+    "Grab the red and yellow playingcards case and take it away from the table.",
+    "Grab the small playingcards pack with the left arm and move it outward.",
+    "Pick the playingcards box with white accents and move it outward from the table.",
+    "Grab the small playingcards pack using the left arm and push it outward.",
+    "Lift the hand-sized playingcards container from the table and move it outward.",
+    "Pick up the yellow and red playingcards box and place it further away.",
+    "Use the left arm to pick the red and yellow playingcards case and shift it outward.",
+    "Grab the red and yellow playingcards case and move it further outward.",
+    "Lift the red and yellow playingcards case and relocate it off the table.",
+    "Lift the red playingcards box and place it farther away with the left arm.",
+    "Move the red playingcards box off the table outward.",
+    "Grab the compact red playingcards pack and move it further away.",
+    "Pick the box for playingcards from the table and shift it outward.",
+    "Move the red playingcards box away from its position on the table.",
+    "Using the left arm, lift the hand-sized playingcards container and move it outward.",
+    "Take the glossy rectangular playingcards box and push it further away.",
+    "Use the left arm to pick up the compact red playingcards pack and push it outward.",
+    "Take the yellow and red playingcards box and place it beyond the table.",
+    "Lift the compact red playingcards pack with the left arm and move it outward.",
+    "Move the glossy rectangular playingcards box further outward after picking it up.",
+    "Pick up the glossy rectangular playingcards box and shift it further outward.",
+    "Take the smooth playingcards pack and place it further outward.",
+    "Relocate the compact red playingcards pack farther outward using the left arm.",
+    "Use the left arm to grab the red playingcards box and move it aside.",
+    "Lift the playingcards storage box using the left arm and transfer it outward.",
+    "Lift the hand-sized playingcards container and set it away from the table.",
+    "Pick the glossy rectangular playingcards box and slide it further outward.",
+    "Grab the playingcards box with white accents and shift it farther away from the table.",
+    "Use the left arm to pick up the compact red playingcards pack and move it.",
+    "Pick up the compact red playingcards pack with the left arm and place it outward.",
+    "With the left arm, pick up the smooth playingcards pack and slide it outward.",
+    "Shift the playingcards box with white accents outward after grabbing it.",
+    "Take the hand-sized playingcards container and move it away from the table.",
+    "Pick up the small playingcards pack and move it farther outward.",
+    "Lift the playingcards box with white accents and push it off the table.",
+    "Shift the smooth playingcards pack outward by grabbing it with the left arm.",
+    "Slide the compact red playingcards pack off the table outward.",
+    "Grab the yellow and red playingcards box and set it beyond the table.",
+    "Use the left arm to pick the red playingcards box and move it outward.",
+    "Use the left arm to grab the rectangular playingcards case and move it away.",
+    "Place the hand-sized playingcards container away from the table outward.",
+    "Pick up the small playingcards pack and move it away.",
+    "Grab the box for playingcards from the table and shift it outward.",
+    "Move the glossy rectangular playingcards box farther from the table using the left arm.",
+    "Grab the yellow and red playingcards box using the left arm and move it outward.",
+    "Lift the yellow and red playingcards box and shift it outward.",
+    "Shift the box for playingcards off the table to the side.",
+    "Move the yellow and red playingcards box outward from the table.",
+    "Lift the red and yellow playingcards case and slide it off the table.",
+    "Pick up the yellow and red playingcards box using the left arm and shift it outward.",
+    "Grab the box for playingcards and take it away from the table.",
+    "Grab the box for playingcards with the left arm and move it outward.",
+    "Pick the small playingcards pack and move it outward from the table.",
+    "Grab the compact red playingcards pack using the left arm and push it outward.",
+    "Lift the rectangular playingcards case from the table and move it outward.",
+    "Pick up the yellow and red playingcards box and place it further away.",
+    "Use the left arm to pick the compact red playingcards pack and shift it outward.",
+    "Grab the glossy rectangular playingcards box and move it further outward.",
+    "Lift the box for playingcards and relocate it off the table.",
+    "Lift the playingcards storage box and place it farther away with the left arm.",
+    "Move the playingcards box with white accents off the table outward.",
+    "Grab the glossy rectangular playingcards box and move it further away.",
+    "Pick the compact red playingcards pack from the table and shift it outward.",
+    "Move the rectangular playingcards case away from its position on the table.",
+    "Using the left arm, lift the small playingcards pack and move it outward.",
+    "Take the glossy rectangular playingcards box and push it further away.",
+    "Use the left arm to pick up the red and yellow playingcards case and push it outward.",
+    "Take the playingcards box with white accents and place it beyond the table.",
+    "Lift the yellow and red playingcards box with the left arm and move it outward.",
+    "Move the glossy rectangular playingcards box further outward after picking it up.",
+    "Pick up the smooth playingcards pack and shift it further outward.",
+    "Take the box for playingcards and place it further outward.",
+    "Relocate the playingcards storage box farther outward using the left arm.",
+    "Use the left arm to grab the small playingcards pack and move it aside.",
+    "Lift the red playingcards box using the left arm and transfer it outward.",
+    "Lift the hand-sized playingcards container and set it away from the table.",
+    "Pick the playingcards box with white accents and slide it further outward.",
+    "Grab the compact red playingcards pack and shift it farther away from the table.",
+    "Use the left arm to pick up the rectangular playingcards case and move it.",
+    "Pick up the yellow and red playingcards box with the left arm and place it outward.",
+    "With the left arm, pick up the small playingcards pack and slide it outward.",
+    "Shift the smooth playingcards pack outward after grabbing it.",
+    "Take the box for playingcards and move it away from the table.",
+    "Pick up the small playingcards pack and move it farther outward.",
+    "Lift the box for playingcards and push it off the table."
+  ],
+  "unseen": [
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Use the left arm to grab the small box for playingcards and move it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Use the left arm to grab the small box for playingcards and relocate it.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and move it outward.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and move it outward.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and move it outward.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Grab the small box for playingcards and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Use the left arm to grab the playingcards with red packaging and move it outward.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Use the left arm to grab the small box for playingcards and relocate it.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Use the left arm to grab the small box for playingcards and relocate it.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Use the left arm to grab the playingcards with red packaging and move it outward.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Use the left arm to grab the small box for playingcards and relocate it.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Use the left arm to grab the playingcards with red packaging and move it outward.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Grab the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Use the left arm to grab the playingcards with red packaging and move it outward.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Use the left arm to grab the small box for playingcards and relocate it.",
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Use the left arm to grab the small box for playingcards and move it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and move it outward.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Grab the small box for playingcards and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Use the left arm to grab the small box for playingcards and relocate it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10003133.json b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10003133.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac8e1e8696beec57fffc4c7ade70a83ec3dcc938
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10003133.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the rectangular playingcards case and relocate it off the table.",
+    "Pick up the box for playingcards using the left arm and shift it outward.",
+    "Grab the box for playingcards and set it beyond the table.",
+    "Lift the red and yellow playingcards case and shift it outward.",
+    "Take the box for playingcards and move it away from the table.",
+    "Relocate the red and yellow playingcards case farther outward using the left arm.",
+    "Lift the playingcards storage box and push it off the table.",
+    "Take the smooth playingcards pack and push it further away.",
+    "Shift the glossy rectangular playingcards box outward after grabbing it.",
+    "Move the rectangular playingcards case further outward after picking it up.",
+    "Grab the compact red playingcards pack and shift it farther away from the table.",
+    "Take the small playingcards pack and place it beyond the table.",
+    "Pick the smooth playingcards pack and move it outward from the table.",
+    "Pick up the playingcards storage box and move it farther outward.",
+    "Lift the smooth playingcards pack using the left arm and transfer it outward.",
+    "Use the left arm to grab the glossy rectangular playingcards box and move it away.",
+    "With the left arm, pick up the rectangular playingcards case and slide it outward.",
+    "Pick up the playingcards box with white accents and place it further away.",
+    "Grab the red playingcards box with the left arm and move it outward.",
+    "Shift the yellow and red playingcards box off the table to the side.",
+    "Move the smooth playingcards pack outward from the table.",
+    "Move the playingcards box with white accents off the table outward.",
+    "Lift the hand-sized playingcards container and slide it off the table.",
+    "Pick the glossy rectangular playingcards box and slide it further outward.",
+    "Grab the yellow and red playingcards box using the left arm and push it outward.",
+    "Grab the smooth playingcards pack and move it further away.",
+    "Pick up the rectangular playingcards case and move it away.",
+    "Use the left arm to pick the compact red playingcards pack and shift it outward.",
+    "Shift the compact red playingcards pack outward by grabbing it with the left arm.",
+    "Pick up the small playingcards pack and shift it further outward.",
+    "Move the red playingcards box away from its position on the table.",
+    "Using the left arm, lift the smooth playingcards pack and move it outward.",
+    "Grab the rectangular playingcards case from the table and shift it outward.",
+    "Place the glossy rectangular playingcards box away from the table outward.",
+    "Pick up the rectangular playingcards case with the left arm and place it outward.",
+    "Slide the red playingcards box off the table outward.",
+    "Pick the compact red playingcards pack from the table and shift it outward.",
+    "Grab the hand-sized playingcards container and take it away from the table.",
+    "Move the yellow and red playingcards box farther from the table using the left arm.",
+    "Lift the yellow and red playingcards box from the table and move it outward.",
+    "Use the left arm to pick up the red playingcards box and push it outward.",
+    "Lift the playingcards box with white accents and place it farther away with the left arm.",
+    "Use the left arm to pick the yellow and red playingcards box and move it outward.",
+    "Lift the playingcards storage box and set it away from the table.",
+    "Use the left arm to grab the rectangular playingcards case and move it aside.",
+    "Use the left arm to pick up the small playingcards pack and move it.",
+    "Grab the red and yellow playingcards case using the left arm and move it outward.",
+    "Take the yellow and red playingcards box and place it further outward.",
+    "Grab the compact red playingcards pack and move it further outward.",
+    "Lift the playingcards storage box with the left arm and move it outward.",
+    "Lift the compact red playingcards pack and relocate it off the table.",
+    "Pick up the box for playingcards using the left arm and shift it outward.",
+    "Grab the glossy rectangular playingcards box and set it beyond the table.",
+    "Lift the box for playingcards and shift it outward.",
+    "Take the smooth playingcards pack and move it away from the table.",
+    "Relocate the red and yellow playingcards case farther outward using the left arm.",
+    "Lift the compact red playingcards pack and push it off the table.",
+    "Take the red playingcards box and push it further away.",
+    "Shift the rectangular playingcards case outward after grabbing it.",
+    "Move the hand-sized playingcards container further outward after picking it up.",
+    "Grab the rectangular playingcards case and shift it farther away from the table.",
+    "Take the red and yellow playingcards case and place it beyond the table.",
+    "Pick the hand-sized playingcards container and move it outward from the table.",
+    "Pick up the red playingcards box and move it farther outward.",
+    "Lift the yellow and red playingcards box using the left arm and transfer it outward.",
+    "Use the left arm to grab the smooth playingcards pack and move it away.",
+    "With the left arm, pick up the red and yellow playingcards case and slide it outward.",
+    "Pick up the playingcards box with white accents and place it further away.",
+    "Grab the glossy rectangular playingcards box with the left arm and move it outward.",
+    "Shift the smooth playingcards pack off the table to the side.",
+    "Move the smooth playingcards pack outward from the table.",
+    "Move the glossy rectangular playingcards box off the table outward.",
+    "Lift the small playingcards pack and slide it off the table.",
+    "Pick the glossy rectangular playingcards box and slide it further outward.",
+    "Grab the small playingcards pack using the left arm and push it outward.",
+    "Grab the compact red playingcards pack and move it further away.",
+    "Pick up the compact red playingcards pack and move it away.",
+    "Use the left arm to pick the box for playingcards and shift it outward.",
+    "Shift the red playingcards box outward by grabbing it with the left arm.",
+    "Pick up the playingcards storage box and shift it further outward.",
+    "Move the hand-sized playingcards container away from its position on the table.",
+    "Using the left arm, lift the smooth playingcards pack and move it outward.",
+    "Grab the playingcards storage box from the table and shift it outward.",
+    "Place the small playingcards pack away from the table outward.",
+    "Pick up the red playingcards box with the left arm and place it outward.",
+    "Slide the box for playingcards off the table outward.",
+    "Pick the red playingcards box from the table and shift it outward.",
+    "Grab the box for playingcards and take it away from the table.",
+    "Move the playingcards box with white accents farther from the table using the left arm.",
+    "Lift the playingcards box with white accents from the table and move it outward.",
+    "Use the left arm to pick up the box for playingcards and push it outward.",
+    "Lift the smooth playingcards pack and place it farther away with the left arm.",
+    "Use the left arm to pick the smooth playingcards pack and move it outward.",
+    "Lift the glossy rectangular playingcards box and set it away from the table.",
+    "Use the left arm to grab the playingcards storage box and move it aside.",
+    "Use the left arm to pick up the box for playingcards and move it.",
+    "Grab the box for playingcards using the left arm and move it outward.",
+    "Take the red playingcards box and place it further outward.",
+    "Grab the playingcards box with white accents and move it further outward.",
+    "Lift the yellow and red playingcards box with the left arm and move it outward."
+  ],
+  "unseen": [
+    "Use the left arm to grab the rectangular red playingcards holder and move it outward.",
+    "Use the left arm to grab the small box for playingcards and relocate it.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Use the left arm to grab the playingcards with red packaging and move it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Grab the small box for playingcards and move it outward.",
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Use the left arm to grab the small box for playingcards and move it outward.",
+    "Use the left arm to grab the small box for playingcards and relocate it.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Grab the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Use the left arm to grab the small box for playingcards and move it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Use the left arm to grab the small box for playingcards and move it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and move it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Grab the small box for playingcards and move it outward.",
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and move it outward.",
+    "Use the left arm to grab the small box for playingcards and relocate it.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Use the left arm to grab the small box for playingcards and move it outward.",
+    "Use the left arm to grab the small box for playingcards and relocate it.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Use the left arm to grab the playingcards with red packaging and move it outward.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Use the left arm to grab the small box for playingcards and relocate it.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and move it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Grab the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and shift it outward."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10005133.json b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10005133.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b462e2228eceb79fcbfbdb62d347e524747b914
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10005133.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the smooth playingcards pack with the right arm and place it outward.",
+    "Use the right arm to pick the small playingcards pack and shift it outward.",
+    "Grab the smooth playingcards pack and move it further away.",
+    "Lift the playingcards box with white accents and slide it off the table.",
+    "Take the small playingcards pack and move it away from the table.",
+    "Take the red and yellow playingcards case and push it further away.",
+    "Use the right arm to grab the red playingcards box and move it away.",
+    "Lift the playingcards storage box using the right arm and transfer it outward.",
+    "Shift the small playingcards pack outward after grabbing it.",
+    "Move the playingcards box with white accents off the table outward.",
+    "Pick up the hand-sized playingcards container and move it farther outward.",
+    "Pick up the yellow and red playingcards box and shift it further outward.",
+    "Move the compact red playingcards pack farther from the table using the right arm.",
+    "Place the compact red playingcards pack away from the table outward.",
+    "Grab the playingcards box with white accents using the right arm and push it outward.",
+    "Move the compact red playingcards pack further outward after picking it up.",
+    "Use the right arm to pick the glossy rectangular playingcards box and move it outward.",
+    "Lift the glossy rectangular playingcards box and relocate it off the table.",
+    "Using the right arm, lift the box for playingcards and move it outward.",
+    "Move the compact red playingcards pack away from its position on the table.",
+    "Shift the hand-sized playingcards container outward by grabbing it with the right arm.",
+    "Grab the hand-sized playingcards container using the right arm and move it outward.",
+    "Grab the red playingcards box and take it away from the table.",
+    "Use the right arm to pick up the hand-sized playingcards container and push it outward.",
+    "Shift the playingcards box with white accents off the table to the side.",
+    "Lift the box for playingcards and shift it outward.",
+    "Take the red and yellow playingcards case and place it beyond the table.",
+    "Lift the playingcards box with white accents from the table and move it outward.",
+    "Pick up the playingcards storage box using the right arm and shift it outward.",
+    "Grab the playingcards storage box with the right arm and move it outward.",
+    "Lift the yellow and red playingcards box and place it farther away with the right arm.",
+    "Pick the hand-sized playingcards container and move it outward from the table.",
+    "Move the small playingcards pack outward from the table.",
+    "Lift the glossy rectangular playingcards box and set it away from the table.",
+    "Take the compact red playingcards pack and place it further outward.",
+    "Use the right arm to grab the smooth playingcards pack and move it aside.",
+    "Lift the hand-sized playingcards container with the right arm and move it outward.",
+    "With the right arm, pick up the glossy rectangular playingcards box and slide it outward.",
+    "Pick the red playingcards box from the table and shift it outward.",
+    "Pick the box for playingcards and slide it further outward.",
+    "Lift the hand-sized playingcards container and push it off the table.",
+    "Slide the red playingcards box off the table outward.",
+    "Use the right arm to pick up the compact red playingcards pack and move it.",
+    "Relocate the box for playingcards farther outward using the right arm.",
+    "Grab the glossy rectangular playingcards box and shift it farther away from the table.",
+    "Grab the box for playingcards and move it further outward.",
+    "Pick up the red and yellow playingcards case and place it further away.",
+    "Pick up the rectangular playingcards case and move it away.",
+    "Grab the playingcards storage box from the table and shift it outward.",
+    "Grab the red and yellow playingcards case and set it beyond the table.",
+    "Pick up the rectangular playingcards case with the right arm and place it outward.",
+    "Use the right arm to pick the small playingcards pack and shift it outward.",
+    "Grab the yellow and red playingcards box and move it further away.",
+    "Lift the smooth playingcards pack and slide it off the table.",
+    "Take the rectangular playingcards case and move it away from the table.",
+    "Take the small playingcards pack and push it further away.",
+    "Use the right arm to grab the playingcards storage box and move it away.",
+    "Lift the playingcards storage box using the right arm and transfer it outward.",
+    "Shift the playingcards box with white accents outward after grabbing it.",
+    "Move the red and yellow playingcards case off the table outward.",
+    "Pick up the hand-sized playingcards container and move it farther outward.",
+    "Pick up the box for playingcards and shift it further outward.",
+    "Move the hand-sized playingcards container farther from the table using the right arm.",
+    "Place the playingcards storage box away from the table outward.",
+    "Grab the compact red playingcards pack using the right arm and push it outward.",
+    "Move the red playingcards box further outward after picking it up.",
+    "Use the right arm to pick the glossy rectangular playingcards box and move it outward.",
+    "Lift the glossy rectangular playingcards box and relocate it off the table.",
+    "Using the right arm, lift the red and yellow playingcards case and move it outward.",
+    "Move the rectangular playingcards case away from its position on the table.",
+    "Shift the rectangular playingcards case outward by grabbing it with the right arm.",
+    "Grab the red playingcards box using the right arm and move it outward.",
+    "Grab the compact red playingcards pack and take it away from the table.",
+    "Use the right arm to pick up the smooth playingcards pack and push it outward.",
+    "Shift the hand-sized playingcards container off the table to the side.",
+    "Lift the red and yellow playingcards case and shift it outward.",
+    "Take the red playingcards box and place it beyond the table.",
+    "Lift the playingcards box with white accents from the table and move it outward.",
+    "Pick up the small playingcards pack using the right arm and shift it outward.",
+    "Grab the yellow and red playingcards box with the right arm and move it outward.",
+    "Lift the yellow and red playingcards box and place it farther away with the right arm.",
+    "Pick the yellow and red playingcards box and move it outward from the table.",
+    "Move the compact red playingcards pack outward from the table.",
+    "Lift the yellow and red playingcards box and set it away from the table.",
+    "Take the small playingcards pack and place it further outward.",
+    "Use the right arm to grab the glossy rectangular playingcards box and move it aside.",
+    "Lift the playingcards box with white accents with the right arm and move it outward.",
+    "With the right arm, pick up the glossy rectangular playingcards box and slide it outward.",
+    "Pick the playingcards storage box from the table and shift it outward.",
+    "Pick the small playingcards pack and slide it further outward.",
+    "Lift the playingcards storage box and push it off the table.",
+    "Slide the smooth playingcards pack off the table outward.",
+    "Use the right arm to pick up the box for playingcards and move it.",
+    "Relocate the smooth playingcards pack farther outward using the right arm.",
+    "Grab the playingcards storage box and shift it farther away from the table.",
+    "Grab the yellow and red playingcards box and move it further outward.",
+    "Pick up the box for playingcards and place it further away.",
+    "Pick up the rectangular playingcards case and move it away.",
+    "Grab the rectangular playingcards case from the table and shift it outward.",
+    "Grab the yellow and red playingcards box and set it beyond the table."
+  ],
+  "unseen": [
+    "Use the right arm to grab the playingcards with red packaging and move it outward.",
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Use the right arm to grab the small box for playingcards and move it outward.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Use the right arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Use the right arm to grab the playingcards with red packaging and move it outward.",
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Grab the small box for playingcards and move it outward.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Use the right arm to grab the playingcards with red packaging and move it outward.",
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Use the right arm to grab the rectangular red playingcards holder and move it outward.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Grab the small box for playingcards and move it outward.",
+    "Use the right arm to grab the rectangular red playingcards holder and relocate it.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Use the right arm to grab the rectangular red playingcards holder and move it outward.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Use the right arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Use the right arm to grab the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Use the right arm to grab the playingcards with red packaging and move it outward.",
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Use the right arm to grab the playingcards with red packaging and move it outward.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Use the right arm to grab the small box for playingcards and move it outward.",
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10005161.json b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10005161.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a660ec02db8da5af8b4fac08c1e71a609cf4911
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10005161.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the red and yellow playingcards case outward from the table.",
+    "Grab the smooth playingcards pack and move it further outward.",
+    "Take the smooth playingcards pack and place it beyond the table.",
+    "Lift the hand-sized playingcards container and place it farther away with the right arm.",
+    "Lift the hand-sized playingcards container and relocate it off the table.",
+    "Lift the red and yellow playingcards case and set it away from the table.",
+    "Take the compact red playingcards pack and move it away from the table.",
+    "Pick up the red playingcards box and move it away.",
+    "Pick the hand-sized playingcards container and move it outward from the table.",
+    "Grab the compact red playingcards pack using the right arm and move it outward.",
+    "Move the smooth playingcards pack farther from the table using the right arm.",
+    "Pick up the compact red playingcards pack with the right arm and place it outward.",
+    "Grab the playingcards storage box and set it beyond the table.",
+    "Lift the hand-sized playingcards container and slide it off the table.",
+    "Pick up the red playingcards box and move it farther outward.",
+    "Shift the rectangular playingcards case outward by grabbing it with the right arm.",
+    "With the right arm, pick up the red and yellow playingcards case and slide it outward.",
+    "Use the right arm to pick up the playingcards storage box and move it.",
+    "Grab the smooth playingcards pack from the table and shift it outward.",
+    "Grab the compact red playingcards pack and take it away from the table.",
+    "Move the red and yellow playingcards case off the table outward.",
+    "Using the right arm, lift the playingcards storage box and move it outward.",
+    "Use the right arm to pick the glossy rectangular playingcards box and shift it outward.",
+    "Use the right arm to pick up the red and yellow playingcards case and push it outward.",
+    "Take the smooth playingcards pack and push it further away.",
+    "Place the playingcards box with white accents away from the table outward.",
+    "Grab the compact red playingcards pack and move it further away.",
+    "Grab the red playingcards box using the right arm and push it outward.",
+    "Lift the smooth playingcards pack and push it off the table.",
+    "Pick the rectangular playingcards case from the table and shift it outward.",
+    "Pick up the playingcards box with white accents using the right arm and shift it outward.",
+    "Grab the compact red playingcards pack and shift it farther away from the table.",
+    "Lift the playingcards box with white accents and shift it outward.",
+    "Lift the playingcards box with white accents with the right arm and move it outward.",
+    "Take the small playingcards pack and place it further outward.",
+    "Lift the playingcards storage box using the right arm and transfer it outward.",
+    "Pick up the yellow and red playingcards box and place it further away.",
+    "Use the right arm to grab the red playingcards box and move it away.",
+    "Move the small playingcards pack away from its position on the table.",
+    "Use the right arm to pick the playingcards box with white accents and move it outward.",
+    "Move the playingcards storage box further outward after picking it up.",
+    "Use the right arm to grab the playingcards box with white accents and move it aside.",
+    "Shift the box for playingcards off the table to the side.",
+    "Lift the playingcards box with white accents from the table and move it outward.",
+    "Pick up the red playingcards box and shift it further outward.",
+    "Grab the box for playingcards with the right arm and move it outward.",
+    "Relocate the playingcards storage box farther outward using the right arm.",
+    "Pick the red and yellow playingcards case and slide it further outward.",
+    "Slide the glossy rectangular playingcards box off the table outward.",
+    "Shift the hand-sized playingcards container outward after grabbing it.",
+    "Move the playingcards storage box outward from the table.",
+    "Grab the yellow and red playingcards box and move it further outward.",
+    "Take the rectangular playingcards case and place it beyond the table.",
+    "Lift the box for playingcards and place it farther away with the right arm.",
+    "Lift the playingcards box with white accents and relocate it off the table.",
+    "Lift the playingcards storage box and set it away from the table.",
+    "Take the small playingcards pack and move it away from the table.",
+    "Pick up the red and yellow playingcards case and move it away.",
+    "Pick the red playingcards box and move it outward from the table.",
+    "Grab the red playingcards box using the right arm and move it outward.",
+    "Move the small playingcards pack farther from the table using the right arm.",
+    "Pick up the playingcards storage box with the right arm and place it outward.",
+    "Grab the playingcards box with white accents and set it beyond the table.",
+    "Lift the yellow and red playingcards box and slide it off the table.",
+    "Pick up the small playingcards pack and move it farther outward.",
+    "Shift the yellow and red playingcards box outward by grabbing it with the right arm.",
+    "With the right arm, pick up the playingcards storage box and slide it outward.",
+    "Use the right arm to pick up the rectangular playingcards case and move it.",
+    "Grab the red playingcards box from the table and shift it outward.",
+    "Grab the small playingcards pack and take it away from the table.",
+    "Move the red and yellow playingcards case off the table outward.",
+    "Using the right arm, lift the red and yellow playingcards case and move it outward.",
+    "Use the right arm to pick the yellow and red playingcards box and shift it outward.",
+    "Use the right arm to pick up the yellow and red playingcards box and push it outward.",
+    "Take the rectangular playingcards case and push it further away.",
+    "Place the red playingcards box away from the table outward.",
+    "Grab the box for playingcards and move it further away.",
+    "Grab the small playingcards pack using the right arm and push it outward.",
+    "Lift the small playingcards pack and push it off the table.",
+    "Pick the smooth playingcards pack from the table and shift it outward.",
+    "Pick up the red playingcards box using the right arm and shift it outward.",
+    "Grab the smooth playingcards pack and shift it farther away from the table.",
+    "Lift the smooth playingcards pack and shift it outward.",
+    "Lift the playingcards box with white accents with the right arm and move it outward.",
+    "Take the box for playingcards and place it further outward.",
+    "Lift the red and yellow playingcards case using the right arm and transfer it outward.",
+    "Pick up the hand-sized playingcards container and place it further away.",
+    "Use the right arm to grab the compact red playingcards pack and move it away.",
+    "Move the compact red playingcards pack away from its position on the table.",
+    "Use the right arm to pick the red and yellow playingcards case and move it outward.",
+    "Move the rectangular playingcards case further outward after picking it up.",
+    "Use the right arm to grab the playingcards storage box and move it aside.",
+    "Shift the glossy rectangular playingcards box off the table to the side.",
+    "Lift the box for playingcards from the table and move it outward.",
+    "Pick up the playingcards storage box and shift it further outward.",
+    "Grab the compact red playingcards pack with the right arm and move it outward.",
+    "Relocate the playingcards storage box farther outward using the right arm.",
+    "Pick the playingcards box with white accents and slide it further outward.",
+    "Slide the red playingcards box off the table outward.",
+    "Shift the rectangular playingcards case outward after grabbing it."
+  ],
+  "unseen": [
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Use the right arm to grab the rectangular red playingcards holder and relocate it.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Use the right arm to grab the playingcards with red packaging and move it outward.",
+    "Grab the small box for playingcards and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Use the right arm to grab the rectangular red playingcards holder and relocate it.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Use the right arm to grab the small box for playingcards and move it outward.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Use the right arm to grab the small box for playingcards and move it outward.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Use the right arm to grab the rectangular red playingcards holder and relocate it.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Use the right arm to grab the small box for playingcards and move it outward.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Use the right arm to grab the playingcards with red packaging and move it outward.",
+    "Grab the small box for playingcards and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Use the right arm to grab the rectangular red playingcards holder and relocate it.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Use the right arm to grab the small box for playingcards and move it outward.",
+    "Grab the small box for playingcards and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Use the right arm to grab the playingcards with red packaging and move it outward.",
+    "Grab the small box for playingcards and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Use the right arm to grab the rectangular red playingcards holder and relocate it.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Use the right arm to grab the playingcards with red packaging and move it outward.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Use the right arm to grab the playingcards with red packaging and move it outward.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Use the right arm to grab the rectangular red playingcards holder and move it outward.",
+    "Grab the rectangular red playingcards holder and move it outward."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10005162.json b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10005162.json
new file mode 100644
index 0000000000000000000000000000000000000000..6edaed262ad8453cf964b5d485709af89f97648f
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10005162.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the blue pack holding playingcards and set it away from the table.",
+    "Pick up the box of playingcards and place it further away.",
+    "Pick up the blue playingcards box and move it away.",
+    "Grab the blue playingcards box using the left arm and push it outward.",
+    "Grab the card box with golden designs using the left arm and move it outward.",
+    "Move the palm-sized playingcards carton further outward after picking it up.",
+    "Lift the playingcards pack with blue top and place it farther away with the left arm.",
+    "Relocate the blue pack holding playingcards farther outward using the left arm.",
+    "Pick up the playingcards box with white symbols and move it farther outward.",
+    "Move the small playingcards container off the table outward.",
+    "Grab the palm-sized playingcards carton and shift it farther away from the table.",
+    "Shift the blue pack holding playingcards outward by grabbing it with the left arm.",
+    "Take the box of playingcards and move it away from the table.",
+    "Move the smooth playingcards holder away from its position on the table.",
+    "Use the left arm to grab the small playingcards container and move it aside.",
+    "With the left arm, pick up the playingcards box with white symbols and slide it outward.",
+    "Place the small playingcards container away from the table outward.",
+    "Pick up the playingcards pack with blue top with the left arm and place it outward.",
+    "Use the left arm to pick up the palm-sized playingcards carton and move it.",
+    "Use the left arm to pick the blue carton for playingcards and move it outward.",
+    "Grab the blue and white playingcards packaging from the table and shift it outward.",
+    "Grab the palm-sized playingcards carton with the left arm and move it outward.",
+    "Pick the small playingcards container from the table and shift it outward.",
+    "Using the left arm, lift the blue playingcards box and move it outward.",
+    "Lift the rectangular blue playingcards case and shift it outward.",
+    "Lift the playingcards box with white symbols and slide it off the table.",
+    "Grab the rectangular blue playingcards case and move it further away.",
+    "Shift the blue carton for playingcards outward after grabbing it.",
+    "Lift the smooth playingcards holder with the left arm and move it outward.",
+    "Take the blue playingcards box and place it further outward.",
+    "Lift the blue carton for playingcards from the table and move it outward.",
+    "Lift the blue carton for playingcards and push it off the table.",
+    "Use the left arm to pick the small playingcards container and shift it outward.",
+    "Pick up the rectangular blue playingcards case and shift it further outward.",
+    "Grab the smooth playingcards holder and take it away from the table.",
+    "Slide the playingcards pack with blue top off the table outward.",
+    "Lift the blue and white playingcards packaging using the left arm and transfer it outward.",
+    "Take the blue carton for playingcards and push it further away.",
+    "Pick up the rectangular blue playingcards case using the left arm and shift it outward.",
+    "Pick the card box with golden designs and slide it further outward.",
+    "Grab the blue and white playingcards packaging and move it further outward.",
+    "Take the blue pack holding playingcards and place it beyond the table.",
+    "Move the smooth playingcards holder outward from the table.",
+    "Pick the small playingcards container and move it outward from the table.",
+    "Grab the blue pack holding playingcards and set it beyond the table.",
+    "Move the card box with golden designs farther from the table using the left arm.",
+    "Lift the blue and white playingcards packaging and relocate it off the table.",
+    "Shift the box of playingcards off the table to the side.",
+    "Use the left arm to grab the small playingcards container and move it away.",
+    "Use the left arm to pick up the box of playingcards and push it outward.",
+    "Lift the blue and white playingcards packaging and set it away from the table.",
+    "Pick up the blue and white playingcards packaging and place it further away.",
+    "Pick up the playingcards box with white symbols and move it away.",
+    "Grab the blue pack holding playingcards using the left arm and push it outward.",
+    "Grab the palm-sized playingcards carton using the left arm and move it outward.",
+    "Move the blue pack holding playingcards further outward after picking it up.",
+    "Lift the blue carton for playingcards and place it farther away with the left arm.",
+    "Relocate the blue and white playingcards packaging farther outward using the left arm.",
+    "Pick up the playingcards box with white symbols and move it farther outward.",
+    "Move the blue pack holding playingcards off the table outward.",
+    "Grab the palm-sized playingcards carton and shift it farther away from the table.",
+    "Shift the blue pack holding playingcards outward by grabbing it with the left arm.",
+    "Take the small playingcards container and move it away from the table.",
+    "Move the playingcards box with white symbols away from its position on the table.",
+    "Use the left arm to grab the box of playingcards and move it aside.",
+    "With the left arm, pick up the smooth playingcards holder and slide it outward.",
+    "Place the playingcards pack with blue top away from the table outward.",
+    "Pick up the blue and white playingcards packaging with the left arm and place it outward.",
+    "Use the left arm to pick up the smooth playingcards holder and move it.",
+    "Use the left arm to pick the blue playingcards box and move it outward.",
+    "Grab the palm-sized playingcards carton from the table and shift it outward.",
+    "Grab the playingcards pack with blue top with the left arm and move it outward.",
+    "Pick the blue pack holding playingcards from the table and shift it outward.",
+    "Using the left arm, lift the blue carton for playingcards and move it outward.",
+    "Lift the blue and white playingcards packaging and shift it outward.",
+    "Lift the blue carton for playingcards and slide it off the table.",
+    "Grab the card box with golden designs and move it further away.",
+    "Shift the small playingcards container outward after grabbing it.",
+    "Lift the playingcards box with white symbols with the left arm and move it outward.",
+    "Take the rectangular blue playingcards case and place it further outward.",
+    "Lift the blue and white playingcards packaging from the table and move it outward.",
+    "Lift the playingcards pack with blue top and push it off the table.",
+    "Use the left arm to pick the playingcards pack with blue top and shift it outward.",
+    "Pick up the card box with golden designs and shift it further outward.",
+    "Grab the playingcards pack with blue top and take it away from the table.",
+    "Slide the playingcards box with white symbols off the table outward.",
+    "Lift the blue pack holding playingcards using the left arm and transfer it outward.",
+    "Take the rectangular blue playingcards case and push it further away.",
+    "Pick up the playingcards pack with blue top using the left arm and shift it outward.",
+    "Pick the box of playingcards and slide it further outward.",
+    "Grab the blue carton for playingcards and move it further outward.",
+    "Take the card box with golden designs and place it beyond the table.",
+    "Move the blue playingcards box outward from the table.",
+    "Pick the blue playingcards box and move it outward from the table.",
+    "Grab the box of playingcards and set it beyond the table.",
+    "Move the playingcards box with white symbols farther from the table using the left arm.",
+    "Lift the blue and white playingcards packaging and relocate it off the table.",
+    "Shift the playingcards box with white symbols off the table to the side.",
+    "Use the left arm to grab the playingcards box with white symbols and move it away.",
+    "Use the left arm to pick up the blue playingcards box and push it outward."
+  ],
+  "unseen": [
+    "Lift the rectangular playingcards case with patterns from the table and shift it.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Grab the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Use the left arm to grab the small packet of playingcards and relocate it.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Grab the rectangular playingcards pack and move it off the table.",
+    "Use the left arm to grab the small packet of playingcards and relocate it.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and shift it outward.",
+    "Lift the small packet of playingcards from the table and shift it.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Grab the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Use the left arm to grab the small packet of playingcards and relocate it.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Grab the small packet of playingcards and move it off the table.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Use the left arm to grab the rectangular playingcards pack and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and shift it outward.",
+    "Lift the small packet of playingcards from the table and shift it.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Grab the small packet of playingcards and move it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Use the left arm to grab the small packet of playingcards and relocate it.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Grab the small packet of playingcards and move it off the table.",
+    "Use the left arm to grab the small packet of playingcards and relocate it.",
+    "Use the left arm to grab the small packet of playingcards and move it outward.",
+    "Pick up the small packet of playingcards and shift it outward.",
+    "Lift the rectangular playingcards pack from the table and shift it.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Grab the rectangular playingcards pack and move it outward.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Grab the small packet of playingcards and move it off the table.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and shift it outward.",
+    "Lift the rectangular playingcards case with patterns from the table and shift it.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Grab the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Grab the rectangular playingcards pack and move it off the table.",
+    "Use the left arm to grab the small packet of playingcards and relocate it.",
+    "Use the left arm to grab the small packet of playingcards and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and shift it outward.",
+    "Lift the rectangular playingcards case with patterns from the table and shift it.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Grab the small packet of playingcards and move it outward.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Grab the rectangular playingcards case with patterns and move it off the table.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the small packet of playingcards and shift it outward.",
+    "Lift the rectangular playingcards case with patterns from the table and shift it.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Grab the rectangular playingcards pack and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Use the left arm to grab the small packet of playingcards and relocate it.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Grab the rectangular playingcards case with patterns and move it off the table.",
+    "Use the left arm to grab the small packet of playingcards and relocate it.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and shift it outward.",
+    "Lift the rectangular playingcards pack from the table and shift it.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Grab the small packet of playingcards and move it outward.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Use the left arm to grab the rectangular playingcards pack and relocate it.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Grab the small packet of playingcards and move it off the table.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Use the left arm to grab the small packet of playingcards and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and shift it outward.",
+    "Lift the rectangular playingcards case with patterns from the table and shift it.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Grab the small packet of playingcards and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Use the left arm to grab the rectangular playingcards pack and relocate it.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Grab the rectangular playingcards case with patterns and move it off the table.",
+    "Use the left arm to grab the small packet of playingcards and relocate it.",
+    "Use the left arm to grab the rectangular playingcards pack and move it outward.",
+    "Pick up the rectangular playingcards pack and shift it outward.",
+    "Lift the small packet of playingcards from the table and shift it.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Grab the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Use the left arm to grab the rectangular playingcards pack and relocate it.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Grab the rectangular playingcards case with patterns and move it off the table.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and shift it outward."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10005221.json b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10005221.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1b0f172ecd7245fd34bde396359b7c7a150ed91
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10005221.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Relocate the box for playingcards farther outward using the right arm.",
+    "Grab the hand-sized playingcards container and move it further away.",
+    "Lift the playingcards box with white accents and push it off the table.",
+    "Take the playingcards storage box and push it further away.",
+    "Place the smooth playingcards pack away from the table outward.",
+    "Grab the rectangular playingcards case and set it beyond the table.",
+    "Lift the yellow and red playingcards box and slide it off the table.",
+    "Use the right arm to pick the glossy rectangular playingcards box and move it outward.",
+    "Use the right arm to grab the glossy rectangular playingcards box and move it away.",
+    "Pick up the red and yellow playingcards case and move it away.",
+    "Lift the small playingcards pack using the right arm and transfer it outward.",
+    "Grab the compact red playingcards pack using the right arm and move it outward.",
+    "Pick up the red playingcards box using the right arm and shift it outward.",
+    "Lift the box for playingcards and relocate it off the table.",
+    "Use the right arm to pick up the red and yellow playingcards case and move it.",
+    "Lift the hand-sized playingcards container from the table and move it outward.",
+    "Grab the glossy rectangular playingcards box using the right arm and push it outward.",
+    "Pick the rectangular playingcards case and slide it further outward.",
+    "Grab the playingcards box with white accents and take it away from the table.",
+    "Slide the playingcards storage box off the table outward.",
+    "Move the smooth playingcards pack away from its position on the table.",
+    "Use the right arm to pick the compact red playingcards pack and shift it outward.",
+    "Using the right arm, lift the compact red playingcards pack and move it outward.",
+    "Pick up the compact red playingcards pack and move it farther outward.",
+    "Take the compact red playingcards pack and place it beyond the table.",
+    "Take the red playingcards box and move it away from the table.",
+    "Lift the rectangular playingcards case with the right arm and move it outward.",
+    "Pick the hand-sized playingcards container and move it outward from the table.",
+    "Grab the smooth playingcards pack and shift it farther away from the table.",
+    "Pick up the red playingcards box with the right arm and place it outward.",
+    "Lift the small playingcards pack and set it away from the table.",
+    "Move the red and yellow playingcards case further outward after picking it up.",
+    "Pick up the playingcards box with white accents and shift it further outward.",
+    "With the right arm, pick up the glossy rectangular playingcards box and slide it outward.",
+    "Use the right arm to pick up the playingcards storage box and push it outward.",
+    "Pick the smooth playingcards pack from the table and shift it outward.",
+    "Grab the hand-sized playingcards container with the right arm and move it outward.",
+    "Grab the rectangular playingcards case and move it further outward.",
+    "Use the right arm to grab the red playingcards box and move it aside.",
+    "Lift the rectangular playingcards case and place it farther away with the right arm.",
+    "Move the yellow and red playingcards box farther from the table using the right arm.",
+    "Take the yellow and red playingcards box and place it further outward.",
+    "Shift the yellow and red playingcards box off the table to the side.",
+    "Shift the rectangular playingcards case outward by grabbing it with the right arm.",
+    "Grab the yellow and red playingcards box from the table and shift it outward.",
+    "Pick up the hand-sized playingcards container and place it further away.",
+    "Lift the smooth playingcards pack and shift it outward.",
+    "Shift the yellow and red playingcards box outward after grabbing it.",
+    "Move the yellow and red playingcards box outward from the table.",
+    "Move the playingcards storage box off the table outward.",
+    "Relocate the playingcards box with white accents farther outward using the right arm.",
+    "Grab the hand-sized playingcards container and move it further away.",
+    "Lift the smooth playingcards pack and push it off the table.",
+    "Take the playingcards box with white accents and push it further away.",
+    "Place the box for playingcards away from the table outward.",
+    "Grab the box for playingcards and set it beyond the table.",
+    "Lift the playingcards box with white accents and slide it off the table.",
+    "Use the right arm to pick the glossy rectangular playingcards box and move it outward.",
+    "Use the right arm to grab the small playingcards pack and move it away.",
+    "Pick up the playingcards storage box and move it away.",
+    "Lift the compact red playingcards pack using the right arm and transfer it outward.",
+    "Grab the yellow and red playingcards box using the right arm and move it outward.",
+    "Pick up the red and yellow playingcards case using the right arm and shift it outward.",
+    "Lift the red and yellow playingcards case and relocate it off the table.",
+    "Use the right arm to pick up the compact red playingcards pack and move it.",
+    "Lift the yellow and red playingcards box from the table and move it outward.",
+    "Grab the yellow and red playingcards box using the right arm and push it outward.",
+    "Pick the small playingcards pack and slide it further outward.",
+    "Grab the yellow and red playingcards box and take it away from the table.",
+    "Slide the playingcards storage box off the table outward.",
+    "Move the compact red playingcards pack away from its position on the table.",
+    "Use the right arm to pick the red playingcards box and shift it outward.",
+    "Using the right arm, lift the box for playingcards and move it outward.",
+    "Pick up the glossy rectangular playingcards box and move it farther outward.",
+    "Take the red and yellow playingcards case and place it beyond the table.",
+    "Take the smooth playingcards pack and move it away from the table.",
+    "Lift the red and yellow playingcards case with the right arm and move it outward.",
+    "Pick the hand-sized playingcards container and move it outward from the table.",
+    "Grab the compact red playingcards pack and shift it farther away from the table.",
+    "Pick up the red playingcards box with the right arm and place it outward.",
+    "Lift the red playingcards box and set it away from the table.",
+    "Move the playingcards box with white accents further outward after picking it up.",
+    "Pick up the rectangular playingcards case and shift it further outward.",
+    "With the right arm, pick up the smooth playingcards pack and slide it outward.",
+    "Use the right arm to pick up the yellow and red playingcards box and push it outward.",
+    "Pick the red and yellow playingcards case from the table and shift it outward.",
+    "Grab the smooth playingcards pack with the right arm and move it outward.",
+    "Grab the hand-sized playingcards container and move it further outward.",
+    "Use the right arm to grab the hand-sized playingcards container and move it aside.",
+    "Lift the smooth playingcards pack and place it farther away with the right arm.",
+    "Move the smooth playingcards pack farther from the table using the right arm.",
+    "Take the small playingcards pack and place it further outward.",
+    "Shift the red and yellow playingcards case off the table to the side.",
+    "Shift the compact red playingcards pack outward by grabbing it with the right arm.",
+    "Grab the red playingcards box from the table and shift it outward.",
+    "Pick up the red and yellow playingcards case and place it further away.",
+    "Lift the yellow and red playingcards box and shift it outward.",
+    "Shift the playingcards box with white accents outward after grabbing it.",
+    "Move the playingcards storage box outward from the table.",
+    "Move the box for playingcards off the table outward."
+  ],
+  "unseen": [
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Use the right arm to grab the playingcards with red packaging and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Grab the small box for playingcards and move it outward.",
+    "Use the right arm to grab the rectangular red playingcards holder and relocate it.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Use the right arm to grab the playingcards with red packaging and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Grab the small box for playingcards and move it outward.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Use the right arm to grab the small box for playingcards and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Use the right arm to grab the rectangular red playingcards holder and relocate it.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Use the right arm to grab the playingcards with red packaging and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Grab the small box for playingcards and move it outward.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Use the right arm to grab the rectangular red playingcards holder and relocate it.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Use the right arm to grab the playingcards with red packaging and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Use the right arm to grab the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Use the right arm to grab the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Use the right arm to grab the rectangular red playingcards holder and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Use the right arm to grab the rectangular red playingcards holder and relocate it.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Use the right arm to grab the small box for playingcards and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Use the right arm to grab the small box for playingcards and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Lift the playingcards with red packaging from the table and shift it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10006046.json b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10006046.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6c9b9ccd38542468f7ee570c6f468902e28e070
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10006046.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the black box with rectangular shape and shift it farther away from the table.",
+    "Move the rectangular box for card storage away from its position on the table.",
+    "Use the right arm to pick the compact box for playing cards and shift it outward.",
+    "Grab the black playing cards box with the right arm and move it outward.",
+    "Lift the rectangular box for card storage and relocate it off the table.",
+    "Place the box with cards inside away from the table outward.",
+    "Pick the rectangle-shaped cards box from the table and shift it outward.",
+    "Pick up the box with cards inside and shift it further outward.",
+    "Move the palm-sized box for playing cards off the table outward.",
+    "Shift the cardboard playing cards box outward by grabbing it with the right arm.",
+    "Lift the box holding playing cards and push it off the table.",
+    "Grab the smooth black cards container from the table and shift it outward.",
+    "Pick up the rectangular box for card storage with the right arm and place it outward.",
+    "Relocate the rectangle-shaped cards box farther outward using the right arm.",
+    "Move the rectangular box for card storage outward from the table.",
+    "Use the right arm to grab the box with cards inside and move it aside.",
+    "Pick up the playing cards box with gold text and move it away.",
+    "Grab the small black box with cards and move it further away.",
+    "Slide the playing cards box with gold text off the table outward.",
+    "Use the right arm to grab the playing cards box with gold text and move it away.",
+    "Move the playing cards box with gold text farther from the table using the right arm.",
+    "Use the right arm to pick up the small black box with cards and move it.",
+    "Lift the rectangular box for card storage and set it away from the table.",
+    "Grab the small black box with cards and take it away from the table.",
+    "Grab the small black box with cards using the right arm and move it outward.",
+    "Use the right arm to pick the playing cards box with gold text and move it outward.",
+    "Pick up the rectangle-shaped cards box and move it farther outward.",
+    "With the right arm, pick up the rectangular box for card storage and slide it outward.",
+    "Pick the small black box with cards and slide it further outward.",
+    "Grab the compact box for playing cards and move it further outward.",
+    "Grab the box holding playing cards and set it beyond the table.",
+    "Take the smooth black cards container and push it further away.",
+    "Using the right arm, lift the rectangular box for card storage and move it outward.",
+    "Move the black playing cards box further outward after picking it up.",
+    "Lift the compact box for playing cards and slide it off the table.",
+    "Pick the palm-sized box for playing cards and move it outward from the table.",
+    "Lift the playing cards box with gold text with the right arm and move it outward.",
+    "Shift the cardboard playing cards box outward after grabbing it.",
+    "Lift the box holding playing cards from the table and move it outward.",
+    "Pick up the small black box with cards and place it further away.",
+    "Take the cardboard playing cards box and move it away from the table.",
+    "Lift the small black box with cards using the right arm and transfer it outward.",
+    "Lift the compact box for playing cards and place it farther away with the right arm.",
+    "Take the box holding playing cards and place it further outward.",
+    "Use the right arm to pick up the small black box with cards and push it outward.",
+    "Pick up the cardboard playing cards box using the right arm and shift it outward.",
+    "Grab the playing cards box with gold text using the right arm and push it outward.",
+    "Lift the palm-sized box for playing cards and shift it outward.",
+    "Shift the cardboard playing cards box off the table to the side.",
+    "Take the rectangle-shaped cards box and place it beyond the table.",
+    "Grab the rectangular box for card storage and shift it farther away from the table.",
+    "Move the palm-sized box for playing cards away from its position on the table.",
+    "Use the right arm to pick the palm-sized box for playing cards and shift it outward.",
+    "Grab the smooth black cards container with the right arm and move it outward.",
+    "Lift the black playing cards box and relocate it off the table.",
+    "Place the compact box for playing cards away from the table outward.",
+    "Pick the palm-sized box for playing cards from the table and shift it outward.",
+    "Pick up the rectangular box for card storage and shift it further outward.",
+    "Move the rectangular box for card storage off the table outward.",
+    "Shift the palm-sized box for playing cards outward by grabbing it with the right arm.",
+    "Lift the box holding playing cards and push it off the table.",
+    "Grab the black playing cards box from the table and shift it outward.",
+    "Pick up the cardboard playing cards box with the right arm and place it outward.",
+    "Relocate the palm-sized box for playing cards farther outward using the right arm.",
+    "Move the smooth black cards container outward from the table.",
+    "Use the right arm to grab the playing cards box with gold text and move it aside.",
+    "Pick up the box holding playing cards and move it away.",
+    "Grab the box holding playing cards and move it further away.",
+    "Slide the rectangle-shaped cards box off the table outward.",
+    "Use the right arm to grab the palm-sized box for playing cards and move it away.",
+    "Move the rectangle-shaped cards box farther from the table using the right arm.",
+    "Use the right arm to pick up the palm-sized box for playing cards and move it.",
+    "Lift the black playing cards box and set it away from the table.",
+    "Grab the black box with rectangular shape and take it away from the table.",
+    "Grab the black playing cards box using the right arm and move it outward.",
+    "Use the right arm to pick the rectangle-shaped cards box and move it outward.",
+    "Pick up the playing cards box with gold text and move it farther outward.",
+    "With the right arm, pick up the smooth black cards container and slide it outward.",
+    "Pick the box with cards inside and slide it further outward.",
+    "Grab the compact box for playing cards and move it further outward.",
+    "Grab the small black box with cards and set it beyond the table.",
+    "Take the box holding playing cards and push it further away.",
+    "Using the right arm, lift the box holding playing cards and move it outward.",
+    "Move the cardboard playing cards box further outward after picking it up.",
+    "Lift the box with cards inside and slide it off the table.",
+    "Pick the playing cards box with gold text and move it outward from the table.",
+    "Lift the playing cards box with gold text with the right arm and move it outward.",
+    "Shift the black playing cards box outward after grabbing it.",
+    "Lift the cardboard playing cards box from the table and move it outward.",
+    "Pick up the rectangular box for card storage and place it further away.",
+    "Take the black box with rectangular shape and move it away from the table.",
+    "Lift the palm-sized box for playing cards using the right arm and transfer it outward.",
+    "Lift the rectangle-shaped cards box and place it farther away with the right arm.",
+    "Take the box with cards inside and place it further outward.",
+    "Use the right arm to pick up the small black box with cards and push it outward.",
+    "Pick up the small black box with cards using the right arm and shift it outward.",
+    "Grab the black box with rectangular shape using the right arm and push it outward.",
+    "Lift the rectangular box for card storage and shift it outward.",
+    "Shift the box holding playing cards off the table to the side.",
+    "Take the box holding playing cards and place it beyond the table."
+  ],
+  "unseen": [
+    "Grab the black box with smooth surface and move it off the table.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Lift the gold text on playing cards box from the table and shift it.",
+    "Grab the black box with smooth surface and move it outward.",
+    "Use the right arm to grab the gold text on playing cards box and relocate it.",
+    "Pick up the black box with smooth surface and shift it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Use the right arm to grab the hard black box for card deck and relocate it.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Use the right arm to grab the hard black box for card deck and move it outward.",
+    "Grab the black box with smooth surface and move it off the table.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Lift the black box with smooth surface from the table and shift it.",
+    "Grab the black box with smooth surface and move it outward.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Pick up the hard black box for card deck and shift it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Use the right arm to grab the hard black box for card deck and relocate it.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Use the right arm to grab the hard black box for card deck and move it outward.",
+    "Grab the black box with smooth surface and move it off the table.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Lift the gold text on playing cards box from the table and shift it.",
+    "Grab the hard black box for card deck and move it outward.",
+    "Use the right arm to grab the hard black box for card deck and relocate it.",
+    "Pick up the gold text on playing cards box and shift it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Use the right arm to grab the gold text on playing cards box and relocate it.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Use the right arm to grab the black box with smooth surface and move it outward.",
+    "Grab the black box with smooth surface and move it off the table.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Lift the hard black box for card deck from the table and shift it.",
+    "Grab the hard black box for card deck and move it outward.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Pick up the black box with smooth surface and shift it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Use the right arm to grab the black box with smooth surface and move it outward.",
+    "Grab the black box with smooth surface and move it off the table.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Lift the hard black box for card deck from the table and shift it.",
+    "Grab the gold text on playing cards box and move it outward.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Pick up the gold text on playing cards box and shift it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Use the right arm to grab the gold text on playing cards box and relocate it.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Use the right arm to grab the black box with smooth surface and move it outward.",
+    "Grab the black box with smooth surface and move it off the table.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Lift the hard black box for card deck from the table and shift it.",
+    "Grab the black box with smooth surface and move it outward.",
+    "Use the right arm to grab the gold text on playing cards box and relocate it.",
+    "Pick up the gold text on playing cards box and shift it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Use the right arm to grab the gold text on playing cards box and relocate it.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Use the right arm to grab the gold text on playing cards box and move it outward.",
+    "Grab the hard black box for card deck and move it off the table.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Lift the gold text on playing cards box from the table and shift it.",
+    "Grab the gold text on playing cards box and move it outward.",
+    "Use the right arm to grab the hard black box for card deck and relocate it.",
+    "Pick up the hard black box for card deck and shift it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Use the right arm to grab the black box with smooth surface and move it outward.",
+    "Grab the black box with smooth surface and move it off the table.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Lift the gold text on playing cards box from the table and shift it.",
+    "Grab the black box with smooth surface and move it outward.",
+    "Use the right arm to grab the gold text on playing cards box and relocate it.",
+    "Pick up the black box with smooth surface and shift it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Use the right arm to grab the hard black box for card deck and relocate it.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Use the right arm to grab the hard black box for card deck and move it outward.",
+    "Grab the black box with smooth surface and move it off the table.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Lift the hard black box for card deck from the table and shift it.",
+    "Grab the hard black box for card deck and move it outward.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Pick up the black box with smooth surface and shift it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Use the right arm to grab the hard black box for card deck and relocate it.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Use the right arm to grab the black box with smooth surface and move it outward.",
+    "Grab the gold text on playing cards box and move it off the table.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Lift the black box with smooth surface from the table and shift it.",
+    "Grab the hard black box for card deck and move it outward.",
+    "Use the right arm to grab the gold text on playing cards box and relocate it.",
+    "Pick up the black box with smooth surface and shift it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Use the right arm to grab the hard black box for card deck and move it outward."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10006067.json b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10006067.json
new file mode 100644
index 0000000000000000000000000000000000000000..b34820378cedcd23b337da3fdaf082e1e0f90add
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10006067.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the playingcards box with white accents and move it away from the table.",
+    "Grab the red playingcards box from the table and shift it outward.",
+    "Pick the compact red playingcards pack and move it outward from the table.",
+    "Slide the hand-sized playingcards container off the table outward.",
+    "Using the right arm, lift the yellow and red playingcards box and move it outward.",
+    "Use the right arm to pick up the small playingcards pack and push it outward.",
+    "Take the compact red playingcards pack and place it further outward.",
+    "Use the right arm to grab the playingcards box with white accents and move it aside.",
+    "Lift the smooth playingcards pack and place it farther away with the right arm.",
+    "Use the right arm to pick up the hand-sized playingcards container and move it.",
+    "Lift the playingcards storage box and shift it outward.",
+    "Grab the playingcards storage box and move it further outward.",
+    "Pick the small playingcards pack and slide it further outward.",
+    "Shift the playingcards box with white accents off the table to the side.",
+    "Shift the rectangular playingcards case outward by grabbing it with the right arm.",
+    "With the right arm, pick up the glossy rectangular playingcards box and slide it outward.",
+    "Move the playingcards storage box away from its position on the table.",
+    "Take the hand-sized playingcards container and place it beyond the table.",
+    "Grab the red playingcards box using the right arm and move it outward.",
+    "Use the right arm to grab the playingcards box with white accents and move it away.",
+    "Pick up the glossy rectangular playingcards box and move it farther outward.",
+    "Relocate the playingcards storage box farther outward using the right arm.",
+    "Pick up the yellow and red playingcards box and shift it further outward.",
+    "Take the compact red playingcards pack and push it further away.",
+    "Move the rectangular playingcards case further outward after picking it up.",
+    "Grab the glossy rectangular playingcards box and set it beyond the table.",
+    "Pick up the compact red playingcards pack and place it further away.",
+    "Use the right arm to pick the red and yellow playingcards case and shift it outward.",
+    "Grab the glossy rectangular playingcards box and move it further away.",
+    "Grab the yellow and red playingcards box using the right arm and push it outward.",
+    "Place the hand-sized playingcards container away from the table outward.",
+    "Lift the smooth playingcards pack and relocate it off the table.",
+    "Lift the box for playingcards from the table and move it outward.",
+    "Lift the compact red playingcards pack with the right arm and move it outward.",
+    "Shift the red and yellow playingcards case outward after grabbing it.",
+    "Move the red and yellow playingcards case off the table outward.",
+    "Grab the glossy rectangular playingcards box with the right arm and move it outward.",
+    "Lift the red and yellow playingcards case and slide it off the table.",
+    "Grab the small playingcards pack and take it away from the table.",
+    "Move the yellow and red playingcards box outward from the table.",
+    "Pick the red and yellow playingcards case from the table and shift it outward.",
+    "Pick up the compact red playingcards pack using the right arm and shift it outward.",
+    "Move the compact red playingcards pack farther from the table using the right arm.",
+    "Use the right arm to pick the compact red playingcards pack and move it outward.",
+    "Grab the hand-sized playingcards container and shift it farther away from the table.",
+    "Lift the yellow and red playingcards box using the right arm and transfer it outward.",
+    "Lift the smooth playingcards pack and set it away from the table.",
+    "Pick up the hand-sized playingcards container and move it away.",
+    "Pick up the playingcards box with white accents with the right arm and place it outward.",
+    "Lift the hand-sized playingcards container and push it off the table.",
+    "Take the hand-sized playingcards container and move it away from the table.",
+    "Grab the playingcards storage box from the table and shift it outward.",
+    "Pick the small playingcards pack and move it outward from the table.",
+    "Slide the red and yellow playingcards case off the table outward.",
+    "Using the right arm, lift the playingcards storage box and move it outward.",
+    "Use the right arm to pick up the yellow and red playingcards box and push it outward.",
+    "Take the hand-sized playingcards container and place it further outward.",
+    "Use the right arm to grab the compact red playingcards pack and move it aside.",
+    "Lift the box for playingcards and place it farther away with the right arm.",
+    "Use the right arm to pick up the playingcards storage box and move it.",
+    "Lift the glossy rectangular playingcards box and shift it outward.",
+    "Grab the yellow and red playingcards box and move it further outward.",
+    "Pick the glossy rectangular playingcards box and slide it further outward.",
+    "Shift the yellow and red playingcards box off the table to the side.",
+    "Shift the red and yellow playingcards case outward by grabbing it with the right arm.",
+    "With the right arm, pick up the playingcards box with white accents and slide it outward.",
+    "Move the box for playingcards away from its position on the table.",
+    "Take the smooth playingcards pack and place it beyond the table.",
+    "Grab the red and yellow playingcards case using the right arm and move it outward.",
+    "Use the right arm to grab the rectangular playingcards case and move it away.",
+    "Pick up the red and yellow playingcards case and move it farther outward.",
+    "Relocate the glossy rectangular playingcards box farther outward using the right arm.",
+    "Pick up the playingcards storage box and shift it further outward.",
+    "Take the rectangular playingcards case and push it further away.",
+    "Move the glossy rectangular playingcards box further outward after picking it up.",
+    "Grab the playingcards box with white accents and set it beyond the table.",
+    "Pick up the compact red playingcards pack and place it further away.",
+    "Use the right arm to pick the playingcards storage box and shift it outward.",
+    "Grab the red playingcards box and move it further away.",
+    "Grab the smooth playingcards pack using the right arm and push it outward.",
+    "Place the rectangular playingcards case away from the table outward.",
+    "Lift the rectangular playingcards case and relocate it off the table.",
+    "Lift the yellow and red playingcards box from the table and move it outward.",
+    "Lift the box for playingcards with the right arm and move it outward.",
+    "Shift the small playingcards pack outward after grabbing it.",
+    "Move the red and yellow playingcards case off the table outward.",
+    "Grab the red and yellow playingcards case with the right arm and move it outward.",
+    "Lift the small playingcards pack and slide it off the table.",
+    "Grab the rectangular playingcards case and take it away from the table.",
+    "Move the red playingcards box outward from the table.",
+    "Pick the glossy rectangular playingcards box from the table and shift it outward.",
+    "Pick up the yellow and red playingcards box using the right arm and shift it outward.",
+    "Move the playingcards box with white accents farther from the table using the right arm.",
+    "Use the right arm to pick the playingcards storage box and move it outward.",
+    "Grab the yellow and red playingcards box and shift it farther away from the table.",
+    "Lift the hand-sized playingcards container using the right arm and transfer it outward.",
+    "Lift the yellow and red playingcards box and set it away from the table.",
+    "Pick up the box for playingcards and move it away.",
+    "Pick up the small playingcards pack with the right arm and place it outward.",
+    "Lift the box for playingcards and push it off the table."
+  ],
+  "unseen": [
+    "Lift the small box for playingcards from the table and shift it.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Grab the small box for playingcards and move it outward.",
+    "Use the right arm to grab the playingcards with red packaging and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Grab the small box for playingcards and move it outward.",
+    "Use the right arm to grab the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Grab the small box for playingcards and move it outward.",
+    "Use the right arm to grab the playingcards with red packaging and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Grab the small box for playingcards and move it outward.",
+    "Use the right arm to grab the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Use the right arm to grab the rectangular red playingcards holder and relocate it.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Use the right arm to grab the playingcards with red packaging and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Use the right arm to grab the small box for playingcards and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Use the right arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Use the right arm to grab the small box for playingcards and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Grab the small box for playingcards and move it outward.",
+    "Use the right arm to grab the rectangular red playingcards holder and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Use the right arm to grab the rectangular red playingcards holder and relocate it.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Grab the small box for playingcards and move it outward.",
+    "Use the right arm to grab the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Use the right arm to grab the small box for playingcards and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Use the right arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10006103.json b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10006103.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9f0957b67228c742ec2cc4d1572e8035fb281d8
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10006103.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the box with cards inside using the left arm and push it outward.",
+    "Lift the smooth black cards container from the table and move it outward.",
+    "Lift the compact box for playing cards and shift it outward.",
+    "Lift the cardboard playing cards box and set it away from the table.",
+    "Take the smooth black cards container and place it beyond the table.",
+    "Pick the playing cards box with gold text and move it outward from the table.",
+    "Pick up the cardboard playing cards box and move it away.",
+    "Lift the rectangular box for card storage and slide it off the table.",
+    "Use the left arm to pick the box with cards inside and shift it outward.",
+    "Shift the cardboard playing cards box outward by grabbing it with the left arm.",
+    "Take the box holding playing cards and push it further away.",
+    "Use the left arm to pick up the rectangle-shaped cards box and push it outward.",
+    "Lift the rectangular box for card storage and push it off the table.",
+    "Pick up the compact box for playing cards using the left arm and shift it outward.",
+    "Shift the palm-sized box for playing cards off the table to the side.",
+    "Pick the black box with rectangular shape and slide it further outward.",
+    "Shift the compact box for playing cards outward after grabbing it.",
+    "Move the cardboard playing cards box away from its position on the table.",
+    "Use the left arm to grab the rectangular box for card storage and move it away.",
+    "Use the left arm to grab the smooth black cards container and move it aside.",
+    "Pick up the black box with rectangular shape and shift it further outward.",
+    "Pick up the black playing cards box with the left arm and place it outward.",
+    "Grab the box with cards inside and set it beyond the table.",
+    "Grab the rectangle-shaped cards box and move it further outward.",
+    "Move the black box with rectangular shape further outward after picking it up.",
+    "Grab the black playing cards box and take it away from the table.",
+    "Lift the rectangle-shaped cards box using the left arm and transfer it outward.",
+    "Use the left arm to pick up the cardboard playing cards box and move it.",
+    "Lift the small black box with cards with the left arm and move it outward.",
+    "Move the small black box with cards off the table outward.",
+    "Move the smooth black cards container outward from the table.",
+    "Grab the small black box with cards with the left arm and move it outward.",
+    "Pick the compact box for playing cards from the table and shift it outward.",
+    "Lift the black box with rectangular shape and place it farther away with the left arm.",
+    "Grab the black box with rectangular shape from the table and shift it outward.",
+    "Take the palm-sized box for playing cards and place it further outward.",
+    "Move the rectangular box for card storage farther from the table using the left arm.",
+    "With the left arm, pick up the rectangle-shaped cards box and slide it outward.",
+    "Grab the cardboard playing cards box using the left arm and move it outward.",
+    "Use the left arm to pick the black box with rectangular shape and move it outward.",
+    "Lift the box holding playing cards and relocate it off the table.",
+    "Slide the black playing cards box off the table outward.",
+    "Pick up the smooth black cards container and place it further away.",
+    "Relocate the compact box for playing cards farther outward using the left arm.",
+    "Using the left arm, lift the box holding playing cards and move it outward.",
+    "Grab the black box with rectangular shape and move it further away.",
+    "Grab the palm-sized box for playing cards and shift it farther away from the table.",
+    "Take the black box with rectangular shape and move it away from the table.",
+    "Place the cardboard playing cards box away from the table outward.",
+    "Pick up the box holding playing cards and move it farther outward.",
+    "Grab the palm-sized box for playing cards using the left arm and push it outward.",
+    "Lift the smooth black cards container from the table and move it outward.",
+    "Lift the small black box with cards and shift it outward.",
+    "Lift the box holding playing cards and set it away from the table.",
+    "Take the rectangle-shaped cards box and place it beyond the table.",
+    "Pick the small black box with cards and move it outward from the table.",
+    "Pick up the small black box with cards and move it away.",
+    "Lift the box holding playing cards and slide it off the table.",
+    "Use the left arm to pick the cardboard playing cards box and shift it outward.",
+    "Shift the cardboard playing cards box outward by grabbing it with the left arm.",
+    "Take the cardboard playing cards box and push it further away.",
+    "Use the left arm to pick up the box holding playing cards and push it outward.",
+    "Lift the rectangular box for card storage and push it off the table.",
+    "Pick up the smooth black cards container using the left arm and shift it outward.",
+    "Shift the compact box for playing cards off the table to the side.",
+    "Pick the box holding playing cards and slide it further outward.",
+    "Shift the compact box for playing cards outward after grabbing it.",
+    "Move the cardboard playing cards box away from its position on the table.",
+    "Use the left arm to grab the cardboard playing cards box and move it away.",
+    "Use the left arm to grab the small black box with cards and move it aside.",
+    "Pick up the black playing cards box and shift it further outward.",
+    "Pick up the small black box with cards with the left arm and place it outward.",
+    "Grab the box holding playing cards and set it beyond the table.",
+    "Grab the box holding playing cards and move it further outward.",
+    "Move the palm-sized box for playing cards further outward after picking it up.",
+    "Grab the box holding playing cards and take it away from the table.",
+    "Lift the smooth black cards container using the left arm and transfer it outward.",
+    "Use the left arm to pick up the rectangular box for card storage and move it.",
+    "Lift the compact box for playing cards with the left arm and move it outward.",
+    "Move the black box with rectangular shape off the table outward.",
+    "Move the box holding playing cards outward from the table.",
+    "Grab the palm-sized box for playing cards with the left arm and move it outward.",
+    "Pick the cardboard playing cards box from the table and shift it outward.",
+    "Lift the cardboard playing cards box and place it farther away with the left arm.",
+    "Grab the black box with rectangular shape from the table and shift it outward.",
+    "Take the black playing cards box and place it further outward.",
+    "Move the black box with rectangular shape farther from the table using the left arm.",
+    "With the left arm, pick up the small black box with cards and slide it outward.",
+    "Grab the small black box with cards using the left arm and move it outward.",
+    "Use the left arm to pick the box holding playing cards and move it outward.",
+    "Lift the black box with rectangular shape and relocate it off the table.",
+    "Slide the small black box with cards off the table outward.",
+    "Pick up the small black box with cards and place it further away.",
+    "Relocate the small black box with cards farther outward using the left arm.",
+    "Using the left arm, lift the smooth black cards container and move it outward.",
+    "Grab the black box with rectangular shape and move it further away.",
+    "Grab the palm-sized box for playing cards and shift it farther away from the table.",
+    "Take the rectangle-shaped cards box and move it away from the table.",
+    "Place the playing cards box with gold text away from the table outward.",
+    "Pick up the box with cards inside and move it farther outward."
+  ],
+  "unseen": [
+    "Pick up the black box with smooth surface and move it outward.",
+    "Grab the black box with smooth surface and move it outward.",
+    "Pick up the black box with smooth surface and shift it outward.",
+    "Lift the gold text on playing cards box from the table and shift it.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Use the left arm to grab the black box with smooth surface and relocate it.",
+    "Grab the hard black box for card deck and move it off the table.",
+    "Use the left arm to grab the gold text on playing cards box and relocate it.",
+    "Use the left arm to grab the gold text on playing cards box and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Grab the gold text on playing cards box and move it outward.",
+    "Pick up the hard black box for card deck and shift it outward.",
+    "Lift the black box with smooth surface from the table and shift it.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Use the left arm to grab the black box with smooth surface and relocate it.",
+    "Grab the hard black box for card deck and move it off the table.",
+    "Use the left arm to grab the black box with smooth surface and relocate it.",
+    "Use the left arm to grab the gold text on playing cards box and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Grab the black box with smooth surface and move it outward.",
+    "Pick up the black box with smooth surface and shift it outward.",
+    "Lift the hard black box for card deck from the table and shift it.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Use the left arm to grab the gold text on playing cards box and relocate it.",
+    "Grab the black box with smooth surface and move it off the table.",
+    "Use the left arm to grab the gold text on playing cards box and relocate it.",
+    "Use the left arm to grab the gold text on playing cards box and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Grab the hard black box for card deck and move it outward.",
+    "Pick up the hard black box for card deck and shift it outward.",
+    "Lift the black box with smooth surface from the table and shift it.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Use the left arm to grab the hard black box for card deck and relocate it.",
+    "Grab the hard black box for card deck and move it off the table.",
+    "Use the left arm to grab the hard black box for card deck and relocate it.",
+    "Use the left arm to grab the hard black box for card deck and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Grab the black box with smooth surface and move it outward.",
+    "Pick up the black box with smooth surface and shift it outward.",
+    "Lift the gold text on playing cards box from the table and shift it.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Use the left arm to grab the black box with smooth surface and relocate it.",
+    "Grab the hard black box for card deck and move it off the table.",
+    "Use the left arm to grab the hard black box for card deck and relocate it.",
+    "Use the left arm to grab the gold text on playing cards box and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Grab the hard black box for card deck and move it outward.",
+    "Pick up the gold text on playing cards box and shift it outward.",
+    "Lift the hard black box for card deck from the table and shift it.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Use the left arm to grab the gold text on playing cards box and relocate it.",
+    "Grab the hard black box for card deck and move it off the table.",
+    "Use the left arm to grab the black box with smooth surface and relocate it.",
+    "Use the left arm to grab the gold text on playing cards box and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Grab the gold text on playing cards box and move it outward.",
+    "Pick up the gold text on playing cards box and shift it outward.",
+    "Lift the gold text on playing cards box from the table and shift it.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Use the left arm to grab the black box with smooth surface and relocate it.",
+    "Grab the black box with smooth surface and move it off the table.",
+    "Use the left arm to grab the black box with smooth surface and relocate it.",
+    "Use the left arm to grab the hard black box for card deck and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Grab the black box with smooth surface and move it outward.",
+    "Pick up the gold text on playing cards box and shift it outward.",
+    "Lift the gold text on playing cards box from the table and shift it.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Use the left arm to grab the black box with smooth surface and relocate it.",
+    "Grab the gold text on playing cards box and move it off the table.",
+    "Use the left arm to grab the black box with smooth surface and relocate it.",
+    "Use the left arm to grab the black box with smooth surface and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Grab the gold text on playing cards box and move it outward.",
+    "Pick up the black box with smooth surface and shift it outward.",
+    "Lift the hard black box for card deck from the table and shift it.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Use the left arm to grab the gold text on playing cards box and relocate it.",
+    "Grab the hard black box for card deck and move it off the table.",
+    "Use the left arm to grab the black box with smooth surface and relocate it.",
+    "Use the left arm to grab the gold text on playing cards box and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Grab the gold text on playing cards box and move it outward.",
+    "Pick up the hard black box for card deck and shift it outward.",
+    "Lift the black box with smooth surface from the table and shift it.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Use the left arm to grab the gold text on playing cards box and relocate it.",
+    "Grab the gold text on playing cards box and move it off the table.",
+    "Use the left arm to grab the gold text on playing cards box and relocate it.",
+    "Use the left arm to grab the black box with smooth surface and move it outward."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10006243.json b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10006243.json
new file mode 100644
index 0000000000000000000000000000000000000000..69c5b33fde949199bc5d6bb73045373d2e358a10
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10006243.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the red and yellow playingcards case and shift it outward.",
+    "Grab the hand-sized playingcards container using the left arm and move it outward.",
+    "Move the yellow and red playingcards box away from its position on the table.",
+    "Lift the smooth playingcards pack with the left arm and move it outward.",
+    "Pick up the box for playingcards with the left arm and place it outward.",
+    "Lift the yellow and red playingcards box and slide it off the table.",
+    "Lift the playingcards box with white accents and relocate it off the table.",
+    "Pick up the glossy rectangular playingcards box and move it away.",
+    "Move the box for playingcards further outward after picking it up.",
+    "Pick the hand-sized playingcards container and move it outward from the table.",
+    "Use the left arm to pick up the box for playingcards and move it.",
+    "Grab the box for playingcards and set it beyond the table.",
+    "Pick the small playingcards pack and slide it further outward.",
+    "Take the box for playingcards and push it further away.",
+    "Grab the red and yellow playingcards case and take it away from the table.",
+    "Use the left arm to pick the yellow and red playingcards box and shift it outward.",
+    "Use the left arm to pick up the rectangular playingcards case and push it outward.",
+    "Pick up the playingcards storage box using the left arm and shift it outward.",
+    "Grab the compact red playingcards pack using the left arm and push it outward.",
+    "Using the left arm, lift the red playingcards box and move it outward.",
+    "Pick up the box for playingcards and shift it further outward.",
+    "With the left arm, pick up the compact red playingcards pack and slide it outward.",
+    "Shift the red and yellow playingcards case outward by grabbing it with the left arm.",
+    "Move the red and yellow playingcards case off the table outward.",
+    "Place the rectangular playingcards case away from the table outward.",
+    "Pick the smooth playingcards pack from the table and shift it outward.",
+    "Use the left arm to grab the glossy rectangular playingcards box and move it away.",
+    "Pick up the glossy rectangular playingcards box and place it further away.",
+    "Take the small playingcards pack and move it away from the table.",
+    "Take the smooth playingcards pack and place it beyond the table.",
+    "Lift the box for playingcards and set it away from the table.",
+    "Lift the yellow and red playingcards box and push it off the table.",
+    "Use the left arm to pick the playingcards storage box and move it outward.",
+    "Grab the yellow and red playingcards box and move it further away.",
+    "Shift the small playingcards pack outward after grabbing it.",
+    "Lift the hand-sized playingcards container from the table and move it outward.",
+    "Move the compact red playingcards pack outward from the table.",
+    "Move the playingcards storage box farther from the table using the left arm.",
+    "Pick up the compact red playingcards pack and move it farther outward.",
+    "Shift the yellow and red playingcards box off the table to the side.",
+    "Slide the red playingcards box off the table outward.",
+    "Use the left arm to grab the compact red playingcards pack and move it aside.",
+    "Lift the box for playingcards using the left arm and transfer it outward.",
+    "Grab the smooth playingcards pack and shift it farther away from the table.",
+    "Grab the box for playingcards with the left arm and move it outward.",
+    "Relocate the red playingcards box farther outward using the left arm.",
+    "Take the glossy rectangular playingcards box and place it further outward.",
+    "Grab the yellow and red playingcards box and move it further outward.",
+    "Grab the hand-sized playingcards container from the table and shift it outward.",
+    "Lift the playingcards storage box and place it farther away with the left arm.",
+    "Lift the glossy rectangular playingcards box and shift it outward.",
+    "Grab the yellow and red playingcards box using the left arm and move it outward.",
+    "Move the red playingcards box away from its position on the table.",
+    "Lift the smooth playingcards pack with the left arm and move it outward.",
+    "Pick up the red and yellow playingcards case with the left arm and place it outward.",
+    "Lift the red playingcards box and slide it off the table.",
+    "Lift the small playingcards pack and relocate it off the table.",
+    "Pick up the glossy rectangular playingcards box and move it away.",
+    "Move the red and yellow playingcards case further outward after picking it up.",
+    "Pick the hand-sized playingcards container and move it outward from the table.",
+    "Use the left arm to pick up the playingcards box with white accents and move it.",
+    "Grab the smooth playingcards pack and set it beyond the table.",
+    "Pick the compact red playingcards pack and slide it further outward.",
+    "Take the small playingcards pack and push it further away.",
+    "Grab the playingcards storage box and take it away from the table.",
+    "Use the left arm to pick the yellow and red playingcards box and shift it outward.",
+    "Use the left arm to pick up the yellow and red playingcards box and push it outward.",
+    "Pick up the small playingcards pack using the left arm and shift it outward.",
+    "Grab the small playingcards pack using the left arm and push it outward.",
+    "Using the left arm, lift the hand-sized playingcards container and move it outward.",
+    "Pick up the hand-sized playingcards container and shift it further outward.",
+    "With the left arm, pick up the playingcards box with white accents and slide it outward.",
+    "Shift the small playingcards pack outward by grabbing it with the left arm.",
+    "Move the playingcards storage box off the table outward.",
+    "Place the smooth playingcards pack away from the table outward.",
+    "Pick the smooth playingcards pack from the table and shift it outward.",
+    "Use the left arm to grab the hand-sized playingcards container and move it away.",
+    "Pick up the box for playingcards and place it further away.",
+    "Take the playingcards storage box and move it away from the table.",
+    "Take the smooth playingcards pack and place it beyond the table.",
+    "Lift the playingcards box with white accents and set it away from the table.",
+    "Lift the red and yellow playingcards case and push it off the table.",
+    "Use the left arm to pick the red and yellow playingcards case and move it outward.",
+    "Grab the playingcards storage box and move it further away.",
+    "Shift the yellow and red playingcards box outward after grabbing it.",
+    "Lift the glossy rectangular playingcards box from the table and move it outward.",
+    "Move the rectangular playingcards case outward from the table.",
+    "Move the red and yellow playingcards case farther from the table using the left arm.",
+    "Pick up the compact red playingcards pack and move it farther outward.",
+    "Shift the hand-sized playingcards container off the table to the side.",
+    "Slide the yellow and red playingcards box off the table outward.",
+    "Use the left arm to grab the box for playingcards and move it aside.",
+    "Lift the glossy rectangular playingcards box using the left arm and transfer it outward.",
+    "Grab the yellow and red playingcards box and shift it farther away from the table.",
+    "Grab the playingcards storage box with the left arm and move it outward.",
+    "Relocate the red and yellow playingcards case farther outward using the left arm.",
+    "Take the box for playingcards and place it further outward.",
+    "Grab the glossy rectangular playingcards box and move it further outward.",
+    "Grab the box for playingcards from the table and shift it outward.",
+    "Lift the box for playingcards and place it farther away with the left arm."
+  ],
+  "unseen": [
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Grab the small box for playingcards and move it outward.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Use the left arm to grab the playingcards with red packaging and move it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Use the left arm to grab the small box for playingcards and move it outward.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Grab the small box for playingcards and move it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and move it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Use the left arm to grab the small box for playingcards and relocate it.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and move it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Use the left arm to grab the playingcards with red packaging and move it outward.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Use the left arm to grab the small box for playingcards and relocate it.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Use the left arm to grab the playingcards with red packaging and move it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Use the left arm to grab the small box for playingcards and move it outward.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Grab the small box for playingcards and move it outward.",
+    "Use the left arm to grab the playingcards with red packaging and relocate it.",
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Use the left arm to grab the small box for playingcards and move it outward.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Use the left arm to grab the small box for playingcards and relocate it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Use the left arm to grab the playingcards with red packaging and move it outward.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Use the left arm to grab the small box for playingcards and move it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Use the left arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and move it outward."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10007187.json b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10007187.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf0d0e9bc4652870fbd37445ea6ca96a4ccdebd3
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10007187.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the box holding playing cards and move it outward from the table.",
+    "Use the left arm to pick up the black playing cards box and move it.",
+    "Grab the black box with rectangular shape and shift it farther away from the table.",
+    "Lift the black playing cards box and slide it off the table.",
+    "Pick up the black box with rectangular shape using the left arm and shift it outward.",
+    "Slide the black playing cards box off the table outward.",
+    "Pick the box holding playing cards and slide it further outward.",
+    "Move the box with cards inside away from its position on the table.",
+    "Lift the cardboard playing cards box and push it off the table.",
+    "Use the left arm to grab the box with cards inside and move it away.",
+    "Take the rectangle-shaped cards box and push it further away.",
+    "Pick the black box with rectangular shape from the table and shift it outward.",
+    "Pick up the compact box for playing cards with the left arm and place it outward.",
+    "Move the compact box for playing cards off the table outward.",
+    "Pick up the small black box with cards and move it farther outward.",
+    "Relocate the black playing cards box farther outward using the left arm.",
+    "Lift the black box with rectangular shape and place it farther away with the left arm.",
+    "Grab the small black box with cards and set it beyond the table.",
+    "Grab the black playing cards box and move it further outward.",
+    "Place the small black box with cards away from the table outward.",
+    "Move the rectangle-shaped cards box further outward after picking it up.",
+    "Use the left arm to grab the cardboard playing cards box and move it aside.",
+    "Take the small black box with cards and move it away from the table.",
+    "Grab the smooth black cards container using the left arm and move it outward.",
+    "Lift the black playing cards box using the left arm and transfer it outward.",
+    "Lift the black box with rectangular shape and relocate it off the table.",
+    "Use the left arm to pick the box with cards inside and shift it outward.",
+    "Using the left arm, lift the palm-sized box for playing cards and move it outward.",
+    "Grab the playing cards box with gold text and move it further away.",
+    "Use the left arm to pick up the palm-sized box for playing cards and push it outward.",
+    "Lift the box with cards inside and shift it outward.",
+    "Grab the rectangle-shaped cards box using the left arm and push it outward.",
+    "Use the left arm to pick the box holding playing cards and move it outward.",
+    "Shift the rectangle-shaped cards box off the table to the side.",
+    "Take the box holding playing cards and place it beyond the table.",
+    "Pick up the box with cards inside and place it further away.",
+    "Move the box holding playing cards farther from the table using the left arm.",
+    "Shift the smooth black cards container outward after grabbing it.",
+    "Pick up the box holding playing cards and shift it further outward.",
+    "Shift the cardboard playing cards box outward by grabbing it with the left arm.",
+    "Take the compact box for playing cards and place it further outward.",
+    "Grab the black box with rectangular shape with the left arm and move it outward.",
+    "With the left arm, pick up the box holding playing cards and slide it outward.",
+    "Lift the box holding playing cards from the table and move it outward.",
+    "Move the black playing cards box outward from the table.",
+    "Lift the box with cards inside and set it away from the table.",
+    "Pick up the box with cards inside and move it away.",
+    "Lift the small black box with cards with the left arm and move it outward.",
+    "Grab the playing cards box with gold text from the table and shift it outward.",
+    "Grab the rectangle-shaped cards box and take it away from the table.",
+    "Pick the box with cards inside and move it outward from the table.",
+    "Use the left arm to pick up the smooth black cards container and move it.",
+    "Grab the rectangle-shaped cards box and shift it farther away from the table.",
+    "Lift the smooth black cards container and slide it off the table.",
+    "Pick up the small black box with cards using the left arm and shift it outward.",
+    "Slide the smooth black cards container off the table outward.",
+    "Pick the smooth black cards container and slide it further outward.",
+    "Move the black playing cards box away from its position on the table.",
+    "Lift the palm-sized box for playing cards and push it off the table.",
+    "Use the left arm to grab the playing cards box with gold text and move it away.",
+    "Take the rectangle-shaped cards box and push it further away.",
+    "Pick the black box with rectangular shape from the table and shift it outward.",
+    "Pick up the rectangle-shaped cards box with the left arm and place it outward.",
+    "Move the box holding playing cards off the table outward.",
+    "Pick up the cardboard playing cards box and move it farther outward.",
+    "Relocate the palm-sized box for playing cards farther outward using the left arm.",
+    "Lift the compact box for playing cards and place it farther away with the left arm.",
+    "Grab the black playing cards box and set it beyond the table.",
+    "Grab the compact box for playing cards and move it further outward.",
+    "Place the small black box with cards away from the table outward.",
+    "Move the compact box for playing cards further outward after picking it up.",
+    "Use the left arm to grab the palm-sized box for playing cards and move it aside.",
+    "Take the playing cards box with gold text and move it away from the table.",
+    "Grab the playing cards box with gold text using the left arm and move it outward.",
+    "Lift the box holding playing cards using the left arm and transfer it outward.",
+    "Lift the cardboard playing cards box and relocate it off the table.",
+    "Use the left arm to pick the black playing cards box and shift it outward.",
+    "Using the left arm, lift the playing cards box with gold text and move it outward.",
+    "Grab the compact box for playing cards and move it further away.",
+    "Use the left arm to pick up the black box with rectangular shape and push it outward.",
+    "Lift the smooth black cards container and shift it outward.",
+    "Grab the box with cards inside using the left arm and push it outward.",
+    "Use the left arm to pick the cardboard playing cards box and move it outward.",
+    "Shift the smooth black cards container off the table to the side.",
+    "Take the smooth black cards container and place it beyond the table.",
+    "Pick up the palm-sized box for playing cards and place it further away.",
+    "Move the box with cards inside farther from the table using the left arm.",
+    "Shift the box holding playing cards outward after grabbing it.",
+    "Pick up the black box with rectangular shape and shift it further outward.",
+    "Shift the smooth black cards container outward by grabbing it with the left arm.",
+    "Take the cardboard playing cards box and place it further outward.",
+    "Grab the box with cards inside with the left arm and move it outward.",
+    "With the left arm, pick up the smooth black cards container and slide it outward.",
+    "Lift the box holding playing cards from the table and move it outward.",
+    "Move the smooth black cards container outward from the table.",
+    "Lift the cardboard playing cards box and set it away from the table.",
+    "Pick up the smooth black cards container and move it away.",
+    "Lift the small black box with cards with the left arm and move it outward.",
+    "Grab the rectangle-shaped cards box from the table and shift it outward.",
+    "Grab the playing cards box with gold text and take it away from the table."
+  ],
+  "unseen": [
+    "Pick up the gold text on playing cards box and shift it outward.",
+    "Use the left arm to grab the hard black box for card deck and relocate it.",
+    "Grab the black box with smooth surface and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Use the left arm to grab the gold text on playing cards box and move it outward.",
+    "Lift the gold text on playing cards box from the table and shift it.",
+    "Grab the gold text on playing cards box and move it off the table.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Use the left arm to grab the black box with smooth surface and relocate it.",
+    "Pick up the black box with smooth surface and shift it outward.",
+    "Use the left arm to grab the black box with smooth surface and relocate it.",
+    "Grab the black box with smooth surface and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Use the left arm to grab the black box with smooth surface and move it outward.",
+    "Lift the black box with smooth surface from the table and shift it.",
+    "Grab the black box with smooth surface and move it off the table.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Use the left arm to grab the black box with smooth surface and relocate it.",
+    "Pick up the gold text on playing cards box and shift it outward.",
+    "Use the left arm to grab the black box with smooth surface and relocate it.",
+    "Grab the gold text on playing cards box and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Use the left arm to grab the hard black box for card deck and move it outward.",
+    "Lift the black box with smooth surface from the table and shift it.",
+    "Grab the hard black box for card deck and move it off the table.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Use the left arm to grab the black box with smooth surface and relocate it.",
+    "Pick up the hard black box for card deck and shift it outward.",
+    "Use the left arm to grab the hard black box for card deck and relocate it.",
+    "Grab the black box with smooth surface and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Use the left arm to grab the hard black box for card deck and move it outward.",
+    "Lift the hard black box for card deck from the table and shift it.",
+    "Grab the gold text on playing cards box and move it off the table.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Use the left arm to grab the hard black box for card deck and relocate it.",
+    "Pick up the black box with smooth surface and shift it outward.",
+    "Use the left arm to grab the hard black box for card deck and relocate it.",
+    "Grab the gold text on playing cards box and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Use the left arm to grab the gold text on playing cards box and move it outward.",
+    "Lift the gold text on playing cards box from the table and shift it.",
+    "Grab the hard black box for card deck and move it off the table.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Use the left arm to grab the hard black box for card deck and relocate it.",
+    "Pick up the gold text on playing cards box and shift it outward.",
+    "Use the left arm to grab the hard black box for card deck and relocate it.",
+    "Grab the hard black box for card deck and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Use the left arm to grab the hard black box for card deck and move it outward.",
+    "Lift the black box with smooth surface from the table and shift it.",
+    "Grab the black box with smooth surface and move it off the table.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Use the left arm to grab the hard black box for card deck and relocate it.",
+    "Pick up the black box with smooth surface and shift it outward.",
+    "Use the left arm to grab the black box with smooth surface and relocate it.",
+    "Grab the black box with smooth surface and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Use the left arm to grab the black box with smooth surface and move it outward.",
+    "Lift the gold text on playing cards box from the table and shift it.",
+    "Grab the gold text on playing cards box and move it off the table.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Use the left arm to grab the black box with smooth surface and relocate it.",
+    "Pick up the gold text on playing cards box and shift it outward.",
+    "Use the left arm to grab the black box with smooth surface and relocate it.",
+    "Grab the hard black box for card deck and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Use the left arm to grab the hard black box for card deck and move it outward.",
+    "Lift the hard black box for card deck from the table and shift it.",
+    "Grab the hard black box for card deck and move it off the table.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Use the left arm to grab the hard black box for card deck and relocate it.",
+    "Pick up the hard black box for card deck and shift it outward.",
+    "Use the left arm to grab the hard black box for card deck and relocate it.",
+    "Grab the gold text on playing cards box and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Use the left arm to grab the black box with smooth surface and move it outward.",
+    "Lift the gold text on playing cards box from the table and shift it.",
+    "Grab the gold text on playing cards box and move it off the table.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Use the left arm to grab the black box with smooth surface and relocate it.",
+    "Pick up the gold text on playing cards box and shift it outward.",
+    "Use the left arm to grab the black box with smooth surface and relocate it.",
+    "Grab the black box with smooth surface and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Use the left arm to grab the hard black box for card deck and move it outward.",
+    "Lift the hard black box for card deck from the table and shift it.",
+    "Grab the gold text on playing cards box and move it off the table.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Use the left arm to grab the black box with smooth surface and relocate it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10008031.json b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10008031.json
new file mode 100644
index 0000000000000000000000000000000000000000..5027cc024c16cd4b4328877773f2a43826766f69
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10008031.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the palm-sized playingcards carton and take it away from the table.",
+    "Grab the rectangular blue playingcards case and set it beyond the table.",
+    "With the right arm, pick up the blue playingcards box and slide it outward.",
+    "Move the blue and white playingcards packaging off the table outward.",
+    "Place the box of playingcards away from the table outward.",
+    "Move the smooth playingcards holder farther from the table using the right arm.",
+    "Use the right arm to pick up the palm-sized playingcards carton and push it outward.",
+    "Pick up the blue playingcards box and move it away.",
+    "Relocate the playingcards box with white symbols farther outward using the right arm.",
+    "Using the right arm, lift the rectangular blue playingcards case and move it outward.",
+    "Use the right arm to pick the rectangular blue playingcards case and move it outward.",
+    "Pick the blue playingcards box and slide it further outward.",
+    "Shift the rectangular blue playingcards case outward after grabbing it.",
+    "Pick the small playingcards container and move it outward from the table.",
+    "Use the right arm to pick the blue carton for playingcards and shift it outward.",
+    "Lift the playingcards box with white symbols and shift it outward.",
+    "Pick up the blue and white playingcards packaging and move it farther outward.",
+    "Lift the blue carton for playingcards from the table and move it outward.",
+    "Use the right arm to grab the small playingcards container and move it away.",
+    "Slide the smooth playingcards holder off the table outward.",
+    "Lift the small playingcards container and push it off the table.",
+    "Lift the palm-sized playingcards carton and place it farther away with the right arm.",
+    "Move the small playingcards container away from its position on the table.",
+    "Use the right arm to grab the rectangular blue playingcards case and move it aside.",
+    "Grab the blue carton for playingcards and move it further outward.",
+    "Lift the playingcards box with white symbols and slide it off the table.",
+    "Take the blue and white playingcards packaging and move it away from the table.",
+    "Shift the small playingcards container outward by grabbing it with the right arm.",
+    "Grab the blue and white playingcards packaging and shift it farther away from the table.",
+    "Take the box of playingcards and place it further outward.",
+    "Grab the blue and white playingcards packaging from the table and shift it outward.",
+    "Take the blue pack holding playingcards and place it beyond the table.",
+    "Pick up the blue playingcards box and place it further away.",
+    "Take the card box with golden designs and push it further away.",
+    "Lift the palm-sized playingcards carton using the right arm and transfer it outward.",
+    "Move the blue pack holding playingcards further outward after picking it up.",
+    "Grab the small playingcards container using the right arm and move it outward.",
+    "Lift the playingcards box with white symbols and relocate it off the table.",
+    "Use the right arm to pick up the small playingcards container and move it.",
+    "Shift the box of playingcards off the table to the side.",
+    "Grab the rectangular blue playingcards case using the right arm and push it outward.",
+    "Pick up the box of playingcards with the right arm and place it outward.",
+    "Pick up the blue and white playingcards packaging and shift it further outward.",
+    "Grab the blue and white playingcards packaging with the right arm and move it outward.",
+    "Lift the blue pack holding playingcards and set it away from the table.",
+    "Pick up the blue carton for playingcards using the right arm and shift it outward.",
+    "Move the playingcards box with white symbols outward from the table.",
+    "Pick the palm-sized playingcards carton from the table and shift it outward.",
+    "Grab the small playingcards container and move it further away.",
+    "Lift the rectangular blue playingcards case with the right arm and move it outward.",
+    "Grab the smooth playingcards holder and take it away from the table.",
+    "Grab the palm-sized playingcards carton and set it beyond the table.",
+    "With the right arm, pick up the smooth playingcards holder and slide it outward.",
+    "Move the smooth playingcards holder off the table outward.",
+    "Place the blue pack holding playingcards away from the table outward.",
+    "Move the rectangular blue playingcards case farther from the table using the right arm.",
+    "Use the right arm to pick up the small playingcards container and push it outward.",
+    "Pick up the rectangular blue playingcards case and move it away.",
+    "Relocate the blue playingcards box farther outward using the right arm.",
+    "Using the right arm, lift the blue pack holding playingcards and move it outward.",
+    "Use the right arm to pick the box of playingcards and move it outward.",
+    "Pick the playingcards pack with blue top and slide it further outward.",
+    "Shift the smooth playingcards holder outward after grabbing it.",
+    "Pick the playingcards box with white symbols and move it outward from the table.",
+    "Use the right arm to pick the card box with golden designs and shift it outward.",
+    "Lift the blue pack holding playingcards and shift it outward.",
+    "Pick up the playingcards box with white symbols and move it farther outward.",
+    "Lift the blue pack holding playingcards from the table and move it outward.",
+    "Use the right arm to grab the palm-sized playingcards carton and move it away.",
+    "Slide the blue and white playingcards packaging off the table outward.",
+    "Lift the blue playingcards box and push it off the table.",
+    "Lift the smooth playingcards holder and place it farther away with the right arm.",
+    "Move the card box with golden designs away from its position on the table.",
+    "Use the right arm to grab the small playingcards container and move it aside.",
+    "Grab the smooth playingcards holder and move it further outward.",
+    "Lift the smooth playingcards holder and slide it off the table.",
+    "Take the playingcards pack with blue top and move it away from the table.",
+    "Shift the rectangular blue playingcards case outward by grabbing it with the right arm.",
+    "Grab the box of playingcards and shift it farther away from the table.",
+    "Take the blue and white playingcards packaging and place it further outward.",
+    "Grab the smooth playingcards holder from the table and shift it outward.",
+    "Take the blue carton for playingcards and place it beyond the table.",
+    "Pick up the rectangular blue playingcards case and place it further away.",
+    "Take the blue pack holding playingcards and push it further away.",
+    "Lift the small playingcards container using the right arm and transfer it outward.",
+    "Move the blue pack holding playingcards further outward after picking it up.",
+    "Grab the blue carton for playingcards using the right arm and move it outward.",
+    "Lift the card box with golden designs and relocate it off the table.",
+    "Use the right arm to pick up the smooth playingcards holder and move it.",
+    "Shift the box of playingcards off the table to the side.",
+    "Grab the rectangular blue playingcards case using the right arm and push it outward.",
+    "Pick up the smooth playingcards holder with the right arm and place it outward.",
+    "Pick up the palm-sized playingcards carton and shift it further outward.",
+    "Grab the small playingcards container with the right arm and move it outward.",
+    "Lift the playingcards pack with blue top and set it away from the table.",
+    "Pick up the small playingcards container using the right arm and shift it outward.",
+    "Move the card box with golden designs outward from the table.",
+    "Pick the rectangular blue playingcards case from the table and shift it outward.",
+    "Grab the box of playingcards and move it further away.",
+    "Lift the palm-sized playingcards carton with the right arm and move it outward."
+  ],
+  "unseen": [
+    "Grab the rectangular playingcards case with patterns and move it off the table.",
+    "Grab the small packet of playingcards and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Use the right arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Use the right arm to grab the small packet of playingcards and relocate it.",
+    "Pick up the rectangular playingcards pack and shift it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Use the right arm to grab the rectangular playingcards case with patterns and move it outward.",
+    "Lift the small packet of playingcards from the table and shift it.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Grab the small packet of playingcards and move it off the table.",
+    "Grab the small packet of playingcards and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Use the right arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Use the right arm to grab the rectangular playingcards pack and relocate it.",
+    "Pick up the small packet of playingcards and shift it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Use the right arm to grab the rectangular playingcards pack and move it outward.",
+    "Lift the small packet of playingcards from the table and shift it.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Grab the rectangular playingcards case with patterns and move it off the table.",
+    "Grab the rectangular playingcards pack and move it outward.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Use the right arm to grab the small packet of playingcards and relocate it.",
+    "Use the right arm to grab the small packet of playingcards and relocate it.",
+    "Pick up the rectangular playingcards pack and shift it outward.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Use the right arm to grab the small packet of playingcards and move it outward.",
+    "Lift the rectangular playingcards case with patterns from the table and shift it.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Grab the rectangular playingcards case with patterns and move it off the table.",
+    "Grab the small packet of playingcards and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Use the right arm to grab the rectangular playingcards pack and relocate it.",
+    "Use the right arm to grab the rectangular playingcards pack and relocate it.",
+    "Pick up the rectangular playingcards case with patterns and shift it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Use the right arm to grab the rectangular playingcards pack and move it outward.",
+    "Lift the rectangular playingcards pack from the table and shift it.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Grab the rectangular playingcards case with patterns and move it off the table.",
+    "Grab the rectangular playingcards pack and move it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Use the right arm to grab the rectangular playingcards pack and relocate it.",
+    "Use the right arm to grab the rectangular playingcards pack and relocate it.",
+    "Pick up the small packet of playingcards and shift it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Use the right arm to grab the rectangular playingcards case with patterns and move it outward.",
+    "Lift the small packet of playingcards from the table and shift it.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Grab the rectangular playingcards case with patterns and move it off the table.",
+    "Grab the small packet of playingcards and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Use the right arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Use the right arm to grab the small packet of playingcards and relocate it.",
+    "Pick up the rectangular playingcards pack and shift it outward.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Use the right arm to grab the rectangular playingcards case with patterns and move it outward.",
+    "Lift the rectangular playingcards pack from the table and shift it.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Grab the rectangular playingcards case with patterns and move it off the table.",
+    "Grab the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Use the right arm to grab the small packet of playingcards and relocate it.",
+    "Use the right arm to grab the rectangular playingcards pack and relocate it.",
+    "Pick up the rectangular playingcards case with patterns and shift it outward.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Use the right arm to grab the rectangular playingcards case with patterns and move it outward.",
+    "Lift the rectangular playingcards pack from the table and shift it.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Grab the rectangular playingcards case with patterns and move it off the table.",
+    "Grab the small packet of playingcards and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Use the right arm to grab the small packet of playingcards and relocate it.",
+    "Use the right arm to grab the rectangular playingcards pack and relocate it.",
+    "Pick up the small packet of playingcards and shift it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Use the right arm to grab the rectangular playingcards pack and move it outward.",
+    "Lift the rectangular playingcards pack from the table and shift it.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Grab the small packet of playingcards and move it off the table.",
+    "Grab the rectangular playingcards pack and move it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Use the right arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Use the right arm to grab the rectangular playingcards pack and relocate it.",
+    "Pick up the rectangular playingcards pack and shift it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Use the right arm to grab the small packet of playingcards and move it outward.",
+    "Lift the small packet of playingcards from the table and shift it.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Grab the small packet of playingcards and move it off the table.",
+    "Grab the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Use the right arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Use the right arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Pick up the rectangular playingcards pack and shift it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Use the right arm to grab the rectangular playingcards pack and move it outward.",
+    "Lift the rectangular playingcards case with patterns from the table and shift it.",
+    "Pick up the small packet of playingcards and move it outward."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10008115.json b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10008115.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd1ca4b440726c039c2c8091c777068d194cda37
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10008115.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the smooth black cards container and place it farther away with the left arm.",
+    "Pick up the box holding playing cards and move it away.",
+    "Pick up the compact box for playing cards and shift it further outward.",
+    "Take the rectangular box for card storage and place it beyond the table.",
+    "Shift the box with cards inside outward after grabbing it.",
+    "Lift the smooth black cards container and relocate it off the table.",
+    "Lift the small black box with cards with the left arm and move it outward.",
+    "Shift the playing cards box with gold text off the table to the side.",
+    "Take the cardboard playing cards box and move it away from the table.",
+    "Grab the black box with rectangular shape and move it further away.",
+    "Pick up the playing cards box with gold text with the left arm and place it outward.",
+    "Grab the box with cards inside and set it beyond the table.",
+    "Slide the playing cards box with gold text off the table outward.",
+    "Grab the small black box with cards using the left arm and move it outward.",
+    "Lift the black playing cards box and push it off the table.",
+    "Place the black playing cards box away from the table outward.",
+    "Grab the palm-sized box for playing cards using the left arm and push it outward.",
+    "Use the left arm to pick up the smooth black cards container and push it outward.",
+    "Use the left arm to pick the smooth black cards container and shift it outward.",
+    "Pick up the box holding playing cards and place it further away.",
+    "Move the compact box for playing cards further outward after picking it up.",
+    "Move the box holding playing cards farther from the table using the left arm.",
+    "Lift the small black box with cards using the left arm and transfer it outward.",
+    "Lift the cardboard playing cards box and set it away from the table.",
+    "Move the playing cards box with gold text off the table outward.",
+    "Move the box holding playing cards away from its position on the table.",
+    "Pick up the box with cards inside using the left arm and shift it outward.",
+    "Lift the black box with rectangular shape and shift it outward.",
+    "Grab the small black box with cards and move it further outward.",
+    "Grab the box with cards inside and take it away from the table.",
+    "Pick the compact box for playing cards and slide it further outward.",
+    "Shift the smooth black cards container outward by grabbing it with the left arm.",
+    "Use the left arm to pick up the black playing cards box and move it.",
+    "Pick up the compact box for playing cards and move it farther outward.",
+    "Lift the box holding playing cards from the table and move it outward.",
+    "Grab the box with cards inside with the left arm and move it outward.",
+    "Use the left arm to grab the cardboard playing cards box and move it away.",
+    "Grab the small black box with cards from the table and shift it outward.",
+    "Take the cardboard playing cards box and push it further away.",
+    "Using the left arm, lift the black playing cards box and move it outward.",
+    "Take the smooth black cards container and place it further outward.",
+    "Grab the box with cards inside and shift it farther away from the table.",
+    "With the left arm, pick up the small black box with cards and slide it outward.",
+    "Relocate the palm-sized box for playing cards farther outward using the left arm.",
+    "Pick the small black box with cards and move it outward from the table.",
+    "Use the left arm to grab the black box with rectangular shape and move it aside.",
+    "Move the rectangle-shaped cards box outward from the table.",
+    "Use the left arm to pick the compact box for playing cards and move it outward.",
+    "Pick the small black box with cards from the table and shift it outward.",
+    "Lift the playing cards box with gold text and slide it off the table.",
+    "Lift the black playing cards box and place it farther away with the left arm.",
+    "Pick up the palm-sized box for playing cards and move it away.",
+    "Pick up the compact box for playing cards and shift it further outward.",
+    "Take the box holding playing cards and place it beyond the table.",
+    "Shift the compact box for playing cards outward after grabbing it.",
+    "Lift the cardboard playing cards box and relocate it off the table.",
+    "Lift the rectangular box for card storage with the left arm and move it outward.",
+    "Shift the cardboard playing cards box off the table to the side.",
+    "Take the rectangle-shaped cards box and move it away from the table.",
+    "Grab the black box with rectangular shape and move it further away.",
+    "Pick up the cardboard playing cards box with the left arm and place it outward.",
+    "Grab the small black box with cards and set it beyond the table.",
+    "Slide the rectangle-shaped cards box off the table outward.",
+    "Grab the palm-sized box for playing cards using the left arm and move it outward.",
+    "Lift the palm-sized box for playing cards and push it off the table.",
+    "Place the compact box for playing cards away from the table outward.",
+    "Grab the black box with rectangular shape using the left arm and push it outward.",
+    "Use the left arm to pick up the black box with rectangular shape and push it outward.",
+    "Use the left arm to pick the smooth black cards container and shift it outward.",
+    "Pick up the cardboard playing cards box and place it further away.",
+    "Move the rectangular box for card storage further outward after picking it up.",
+    "Move the smooth black cards container farther from the table using the left arm.",
+    "Lift the playing cards box with gold text using the left arm and transfer it outward.",
+    "Lift the smooth black cards container and set it away from the table.",
+    "Move the palm-sized box for playing cards off the table outward.",
+    "Move the black playing cards box away from its position on the table.",
+    "Pick up the box with cards inside using the left arm and shift it outward.",
+    "Lift the cardboard playing cards box and shift it outward.",
+    "Grab the compact box for playing cards and move it further outward.",
+    "Grab the compact box for playing cards and take it away from the table.",
+    "Pick the rectangular box for card storage and slide it further outward.",
+    "Shift the cardboard playing cards box outward by grabbing it with the left arm.",
+    "Use the left arm to pick up the compact box for playing cards and move it.",
+    "Pick up the small black box with cards and move it farther outward.",
+    "Lift the black box with rectangular shape from the table and move it outward.",
+    "Grab the small black box with cards with the left arm and move it outward.",
+    "Use the left arm to grab the small black box with cards and move it away.",
+    "Grab the black box with rectangular shape from the table and shift it outward.",
+    "Take the palm-sized box for playing cards and push it further away.",
+    "Using the left arm, lift the compact box for playing cards and move it outward.",
+    "Take the playing cards box with gold text and place it further outward.",
+    "Grab the palm-sized box for playing cards and shift it farther away from the table.",
+    "With the left arm, pick up the palm-sized box for playing cards and slide it outward.",
+    "Relocate the smooth black cards container farther outward using the left arm.",
+    "Pick the black playing cards box and move it outward from the table.",
+    "Use the left arm to grab the rectangle-shaped cards box and move it aside.",
+    "Move the small black box with cards outward from the table.",
+    "Use the left arm to pick the small black box with cards and move it outward.",
+    "Pick the box with cards inside from the table and shift it outward.",
+    "Lift the black box with rectangular shape and slide it off the table."
+  ],
+  "unseen": [
+    "Lift the black box with smooth surface from the table and shift it.",
+    "Pick up the black box with smooth surface and shift it outward.",
+    "Grab the gold text on playing cards box and move it off the table.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Use the left arm to grab the gold text on playing cards box and relocate it.",
+    "Use the left arm to grab the black box with smooth surface and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Grab the black box with smooth surface and move it outward.",
+    "Use the left arm to grab the hard black box for card deck and relocate it.",
+    "Lift the gold text on playing cards box from the table and shift it.",
+    "Pick up the gold text on playing cards box and shift it outward.",
+    "Grab the black box with smooth surface and move it off the table.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Use the left arm to grab the black box with smooth surface and relocate it.",
+    "Use the left arm to grab the hard black box for card deck and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Grab the gold text on playing cards box and move it outward.",
+    "Use the left arm to grab the hard black box for card deck and relocate it.",
+    "Lift the gold text on playing cards box from the table and shift it.",
+    "Pick up the black box with smooth surface and shift it outward.",
+    "Grab the black box with smooth surface and move it off the table.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Use the left arm to grab the black box with smooth surface and relocate it.",
+    "Use the left arm to grab the gold text on playing cards box and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Grab the gold text on playing cards box and move it outward.",
+    "Use the left arm to grab the hard black box for card deck and relocate it.",
+    "Lift the gold text on playing cards box from the table and shift it.",
+    "Pick up the hard black box for card deck and shift it outward.",
+    "Grab the black box with smooth surface and move it off the table.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Use the left arm to grab the black box with smooth surface and relocate it.",
+    "Use the left arm to grab the black box with smooth surface and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Grab the black box with smooth surface and move it outward.",
+    "Use the left arm to grab the gold text on playing cards box and relocate it.",
+    "Lift the hard black box for card deck from the table and shift it.",
+    "Pick up the hard black box for card deck and shift it outward.",
+    "Grab the gold text on playing cards box and move it off the table.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Use the left arm to grab the hard black box for card deck and relocate it.",
+    "Use the left arm to grab the gold text on playing cards box and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Grab the black box with smooth surface and move it outward.",
+    "Use the left arm to grab the black box with smooth surface and relocate it.",
+    "Lift the gold text on playing cards box from the table and shift it.",
+    "Pick up the hard black box for card deck and shift it outward.",
+    "Grab the black box with smooth surface and move it off the table.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Use the left arm to grab the gold text on playing cards box and relocate it.",
+    "Use the left arm to grab the black box with smooth surface and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Grab the hard black box for card deck and move it outward.",
+    "Use the left arm to grab the black box with smooth surface and relocate it.",
+    "Lift the black box with smooth surface from the table and shift it.",
+    "Pick up the black box with smooth surface and shift it outward.",
+    "Grab the hard black box for card deck and move it off the table.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Use the left arm to grab the black box with smooth surface and relocate it.",
+    "Use the left arm to grab the black box with smooth surface and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Grab the gold text on playing cards box and move it outward.",
+    "Use the left arm to grab the hard black box for card deck and relocate it.",
+    "Lift the hard black box for card deck from the table and shift it.",
+    "Pick up the hard black box for card deck and shift it outward.",
+    "Grab the hard black box for card deck and move it off the table.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Use the left arm to grab the hard black box for card deck and relocate it.",
+    "Use the left arm to grab the hard black box for card deck and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Grab the gold text on playing cards box and move it outward.",
+    "Use the left arm to grab the hard black box for card deck and relocate it.",
+    "Lift the hard black box for card deck from the table and shift it.",
+    "Pick up the black box with smooth surface and shift it outward.",
+    "Grab the gold text on playing cards box and move it off the table.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Use the left arm to grab the gold text on playing cards box and relocate it.",
+    "Use the left arm to grab the hard black box for card deck and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Grab the gold text on playing cards box and move it outward.",
+    "Use the left arm to grab the hard black box for card deck and relocate it.",
+    "Lift the hard black box for card deck from the table and shift it.",
+    "Pick up the black box with smooth surface and shift it outward.",
+    "Grab the gold text on playing cards box and move it off the table.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Use the left arm to grab the gold text on playing cards box and relocate it.",
+    "Use the left arm to grab the hard black box for card deck and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Grab the hard black box for card deck and move it outward.",
+    "Use the left arm to grab the hard black box for card deck and relocate it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10008121.json b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10008121.json
new file mode 100644
index 0000000000000000000000000000000000000000..b53a1d41692447e301b40d38753f7d2c0a9286fb
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10008121.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the smooth playingcards holder and relocate it off the table.",
+    "Lift the rectangular blue playingcards case and set it away from the table.",
+    "Pick the card box with golden designs from the table and shift it outward.",
+    "Grab the palm-sized playingcards carton and set it beyond the table.",
+    "Use the right arm to grab the palm-sized playingcards carton and move it aside.",
+    "Using the right arm, lift the blue playingcards box and move it outward.",
+    "Pick up the blue carton for playingcards and move it away.",
+    "Use the right arm to pick up the blue and white playingcards packaging and push it outward.",
+    "Lift the smooth playingcards holder from the table and move it outward.",
+    "Grab the palm-sized playingcards carton with the right arm and move it outward.",
+    "Lift the blue and white playingcards packaging with the right arm and move it outward.",
+    "Pick up the playingcards pack with blue top and shift it further outward.",
+    "Shift the blue playingcards box outward after grabbing it.",
+    "Place the smooth playingcards holder away from the table outward.",
+    "Grab the blue playingcards box using the right arm and move it outward.",
+    "Use the right arm to pick up the playingcards box with white symbols and move it.",
+    "Grab the blue playingcards box from the table and shift it outward.",
+    "Move the playingcards pack with blue top further outward after picking it up.",
+    "Lift the playingcards box with white symbols and push it off the table.",
+    "Use the right arm to pick the small playingcards container and move it outward.",
+    "Pick up the blue and white playingcards packaging and move it farther outward.",
+    "Relocate the blue and white playingcards packaging farther outward using the right arm.",
+    "Pick up the blue playingcards box and place it further away.",
+    "Take the playingcards box with white symbols and place it beyond the table.",
+    "Lift the playingcards box with white symbols and slide it off the table.",
+    "Move the palm-sized playingcards carton farther from the table using the right arm.",
+    "Grab the playingcards pack with blue top using the right arm and push it outward.",
+    "Move the playingcards pack with blue top outward from the table.",
+    "Grab the playingcards box with white symbols and move it further outward.",
+    "Grab the card box with golden designs and move it further away.",
+    "Move the card box with golden designs off the table outward.",
+    "Pick up the palm-sized playingcards carton with the right arm and place it outward.",
+    "Use the right arm to grab the blue carton for playingcards and move it away.",
+    "Shift the box of playingcards outward by grabbing it with the right arm.",
+    "Take the card box with golden designs and move it away from the table.",
+    "Pick the palm-sized playingcards carton and move it outward from the table.",
+    "Take the blue playingcards box and push it further away.",
+    "Grab the blue carton for playingcards and shift it farther away from the table.",
+    "Take the rectangular blue playingcards case and place it further outward.",
+    "Lift the rectangular blue playingcards case using the right arm and transfer it outward.",
+    "Lift the blue playingcards box and shift it outward.",
+    "Pick up the smooth playingcards holder using the right arm and shift it outward.",
+    "Lift the card box with golden designs and place it farther away with the right arm.",
+    "Grab the blue carton for playingcards and take it away from the table.",
+    "Pick the palm-sized playingcards carton and slide it further outward.",
+    "Use the right arm to pick the blue and white playingcards packaging and shift it outward.",
+    "Shift the palm-sized playingcards carton off the table to the side.",
+    "With the right arm, pick up the card box with golden designs and slide it outward.",
+    "Move the playingcards box with white symbols away from its position on the table.",
+    "Slide the card box with golden designs off the table outward.",
+    "Lift the small playingcards container and relocate it off the table.",
+    "Lift the palm-sized playingcards carton and set it away from the table.",
+    "Pick the card box with golden designs from the table and shift it outward.",
+    "Grab the blue carton for playingcards and set it beyond the table.",
+    "Use the right arm to grab the playingcards box with white symbols and move it aside.",
+    "Using the right arm, lift the smooth playingcards holder and move it outward.",
+    "Pick up the blue carton for playingcards and move it away.",
+    "Use the right arm to pick up the rectangular blue playingcards case and push it outward.",
+    "Lift the small playingcards container from the table and move it outward.",
+    "Grab the blue and white playingcards packaging with the right arm and move it outward.",
+    "Lift the rectangular blue playingcards case with the right arm and move it outward.",
+    "Pick up the palm-sized playingcards carton and shift it further outward.",
+    "Shift the blue carton for playingcards outward after grabbing it.",
+    "Place the blue pack holding playingcards away from the table outward.",
+    "Grab the blue pack holding playingcards using the right arm and move it outward.",
+    "Use the right arm to pick up the blue pack holding playingcards and move it.",
+    "Grab the blue carton for playingcards from the table and shift it outward.",
+    "Move the blue playingcards box further outward after picking it up.",
+    "Lift the smooth playingcards holder and push it off the table.",
+    "Use the right arm to pick the smooth playingcards holder and move it outward.",
+    "Pick up the playingcards box with white symbols and move it farther outward.",
+    "Relocate the smooth playingcards holder farther outward using the right arm.",
+    "Pick up the card box with golden designs and place it further away.",
+    "Take the blue playingcards box and place it beyond the table.",
+    "Lift the palm-sized playingcards carton and slide it off the table.",
+    "Move the blue carton for playingcards farther from the table using the right arm.",
+    "Grab the box of playingcards using the right arm and push it outward.",
+    "Move the rectangular blue playingcards case outward from the table.",
+    "Grab the smooth playingcards holder and move it further outward.",
+    "Grab the blue pack holding playingcards and move it further away.",
+    "Move the card box with golden designs off the table outward.",
+    "Pick up the blue playingcards box with the right arm and place it outward.",
+    "Use the right arm to grab the card box with golden designs and move it away.",
+    "Shift the rectangular blue playingcards case outward by grabbing it with the right arm.",
+    "Take the blue playingcards box and move it away from the table.",
+    "Pick the blue playingcards box and move it outward from the table.",
+    "Take the rectangular blue playingcards case and push it further away.",
+    "Grab the rectangular blue playingcards case and shift it farther away from the table.",
+    "Take the playingcards box with white symbols and place it further outward.",
+    "Lift the playingcards pack with blue top using the right arm and transfer it outward.",
+    "Lift the smooth playingcards holder and shift it outward.",
+    "Pick up the card box with golden designs using the right arm and shift it outward.",
+    "Lift the card box with golden designs and place it farther away with the right arm.",
+    "Grab the rectangular blue playingcards case and take it away from the table.",
+    "Pick the blue playingcards box and slide it further outward.",
+    "Use the right arm to pick the blue playingcards box and shift it outward.",
+    "Shift the box of playingcards off the table to the side.",
+    "With the right arm, pick up the blue carton for playingcards and slide it outward.",
+    "Move the box of playingcards away from its position on the table.",
+    "Slide the blue pack holding playingcards off the table outward."
+  ],
+  "unseen": [
+    "Use the right arm to grab the small packet of playingcards and relocate it.",
+    "Use the right arm to grab the small packet of playingcards and move it outward.",
+    "Grab the rectangular playingcards pack and move it outward.",
+    "Pick up the small packet of playingcards and shift it outward.",
+    "Grab the rectangular playingcards case with patterns and move it off the table.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Use the right arm to grab the small packet of playingcards and relocate it.",
+    "Lift the small packet of playingcards from the table and shift it.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Use the right arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Use the right arm to grab the rectangular playingcards case with patterns and move it outward.",
+    "Grab the rectangular playingcards pack and move it outward.",
+    "Pick up the small packet of playingcards and shift it outward.",
+    "Grab the rectangular playingcards case with patterns and move it off the table.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Use the right arm to grab the rectangular playingcards pack and relocate it.",
+    "Lift the rectangular playingcards case with patterns from the table and shift it.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Use the right arm to grab the small packet of playingcards and relocate it.",
+    "Use the right arm to grab the rectangular playingcards pack and move it outward.",
+    "Grab the small packet of playingcards and move it outward.",
+    "Pick up the small packet of playingcards and shift it outward.",
+    "Grab the rectangular playingcards case with patterns and move it off the table.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Use the right arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Lift the rectangular playingcards case with patterns from the table and shift it.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Use the right arm to grab the small packet of playingcards and relocate it.",
+    "Use the right arm to grab the rectangular playingcards pack and move it outward.",
+    "Grab the rectangular playingcards pack and move it outward.",
+    "Pick up the small packet of playingcards and shift it outward.",
+    "Grab the rectangular playingcards pack and move it off the table.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Use the right arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Lift the rectangular playingcards pack from the table and shift it.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Use the right arm to grab the rectangular playingcards pack and relocate it.",
+    "Use the right arm to grab the rectangular playingcards pack and move it outward.",
+    "Grab the small packet of playingcards and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and shift it outward.",
+    "Grab the rectangular playingcards case with patterns and move it off the table.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Use the right arm to grab the rectangular playingcards pack and relocate it.",
+    "Lift the rectangular playingcards case with patterns from the table and shift it.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Use the right arm to grab the small packet of playingcards and relocate it.",
+    "Use the right arm to grab the rectangular playingcards case with patterns and move it outward.",
+    "Grab the rectangular playingcards pack and move it outward.",
+    "Pick up the small packet of playingcards and shift it outward.",
+    "Grab the small packet of playingcards and move it off the table.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Use the right arm to grab the small packet of playingcards and relocate it.",
+    "Lift the rectangular playingcards case with patterns from the table and shift it.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Use the right arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Use the right arm to grab the small packet of playingcards and move it outward.",
+    "Grab the rectangular playingcards pack and move it outward.",
+    "Pick up the small packet of playingcards and shift it outward.",
+    "Grab the rectangular playingcards case with patterns and move it off the table.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Use the right arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Lift the rectangular playingcards pack from the table and shift it.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Use the right arm to grab the rectangular playingcards pack and relocate it.",
+    "Use the right arm to grab the rectangular playingcards pack and move it outward.",
+    "Grab the small packet of playingcards and move it outward.",
+    "Pick up the small packet of playingcards and shift it outward.",
+    "Grab the rectangular playingcards case with patterns and move it off the table.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Use the right arm to grab the small packet of playingcards and relocate it.",
+    "Lift the rectangular playingcards pack from the table and shift it.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Use the right arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Use the right arm to grab the rectangular playingcards pack and move it outward.",
+    "Grab the small packet of playingcards and move it outward.",
+    "Pick up the small packet of playingcards and shift it outward.",
+    "Grab the rectangular playingcards pack and move it off the table.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Use the right arm to grab the rectangular playingcards pack and relocate it.",
+    "Lift the rectangular playingcards case with patterns from the table and shift it.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Use the right arm to grab the small packet of playingcards and relocate it.",
+    "Use the right arm to grab the small packet of playingcards and move it outward.",
+    "Grab the small packet of playingcards and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and shift it outward.",
+    "Grab the rectangular playingcards case with patterns and move it off the table.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Use the right arm to grab the small packet of playingcards and relocate it.",
+    "Lift the rectangular playingcards case with patterns from the table and shift it.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Pick up the rectangular playingcards pack and move it outward."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10008132.json b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10008132.json
new file mode 100644
index 0000000000000000000000000000000000000000..43c49b4f9c539bf1958c2f6056d398ee48c96a53
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10008132.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the black box with rectangular shape and relocate it off the table.",
+    "Move the smooth black cards container away from its position on the table.",
+    "Move the palm-sized box for playing cards outward from the table.",
+    "Use the right arm to grab the cardboard playing cards box and move it away.",
+    "Move the smooth black cards container off the table outward.",
+    "Grab the smooth black cards container using the right arm and move it outward.",
+    "Use the right arm to pick up the box with cards inside and push it outward.",
+    "Use the right arm to pick up the compact box for playing cards and move it.",
+    "Move the cardboard playing cards box farther from the table using the right arm.",
+    "Lift the rectangular box for card storage and set it away from the table.",
+    "Move the compact box for playing cards further outward after picking it up.",
+    "Lift the cardboard playing cards box and push it off the table.",
+    "Lift the small black box with cards from the table and move it outward.",
+    "Use the right arm to pick the palm-sized box for playing cards and shift it outward.",
+    "Shift the palm-sized box for playing cards outward after grabbing it.",
+    "Take the rectangular box for card storage and move it away from the table.",
+    "Take the box holding playing cards and push it further away.",
+    "Grab the compact box for playing cards and shift it farther away from the table.",
+    "Lift the compact box for playing cards and place it farther away with the right arm.",
+    "Pick up the palm-sized box for playing cards using the right arm and shift it outward.",
+    "Pick the cardboard playing cards box from the table and shift it outward.",
+    "Relocate the compact box for playing cards farther outward using the right arm.",
+    "Pick up the black playing cards box and shift it further outward.",
+    "Lift the box with cards inside with the right arm and move it outward.",
+    "Grab the rectangle-shaped cards box with the right arm and move it outward.",
+    "Use the right arm to pick the black playing cards box and move it outward.",
+    "Lift the playing cards box with gold text and shift it outward.",
+    "Shift the rectangle-shaped cards box off the table to the side.",
+    "Lift the cardboard playing cards box using the right arm and transfer it outward.",
+    "With the right arm, pick up the small black box with cards and slide it outward.",
+    "Pick up the box with cards inside and move it farther outward.",
+    "Use the right arm to grab the cardboard playing cards box and move it aside.",
+    "Pick up the box holding playing cards and move it away.",
+    "Grab the cardboard playing cards box using the right arm and push it outward.",
+    "Pick up the smooth black cards container with the right arm and place it outward.",
+    "Shift the palm-sized box for playing cards outward by grabbing it with the right arm.",
+    "Pick up the box with cards inside and place it further away.",
+    "Grab the black box with rectangular shape and set it beyond the table.",
+    "Pick the black playing cards box and slide it further outward.",
+    "Grab the black box with rectangular shape from the table and shift it outward.",
+    "Take the rectangle-shaped cards box and place it beyond the table.",
+    "Place the smooth black cards container away from the table outward.",
+    "Using the right arm, lift the smooth black cards container and move it outward.",
+    "Take the rectangular box for card storage and place it further outward.",
+    "Slide the box holding playing cards off the table outward.",
+    "Grab the black playing cards box and move it further away.",
+    "Grab the palm-sized box for playing cards and take it away from the table.",
+    "Pick the black box with rectangular shape and move it outward from the table.",
+    "Grab the smooth black cards container and move it further outward.",
+    "Lift the rectangular box for card storage and slide it off the table.",
+    "Lift the palm-sized box for playing cards and relocate it off the table.",
+    "Move the box with cards inside away from its position on the table.",
+    "Move the rectangular box for card storage outward from the table.",
+    "Use the right arm to grab the black playing cards box and move it away.",
+    "Move the black box with rectangular shape off the table outward.",
+    "Grab the rectangular box for card storage using the right arm and move it outward.",
+    "Use the right arm to pick up the box holding playing cards and push it outward.",
+    "Use the right arm to pick up the compact box for playing cards and move it.",
+    "Move the box with cards inside farther from the table using the right arm.",
+    "Lift the compact box for playing cards and set it away from the table.",
+    "Move the smooth black cards container further outward after picking it up.",
+    "Lift the smooth black cards container and push it off the table.",
+    "Lift the rectangle-shaped cards box from the table and move it outward.",
+    "Use the right arm to pick the playing cards box with gold text and shift it outward.",
+    "Shift the small black box with cards outward after grabbing it.",
+    "Take the rectangle-shaped cards box and move it away from the table.",
+    "Take the black box with rectangular shape and push it further away.",
+    "Grab the box with cards inside and shift it farther away from the table.",
+    "Lift the black box with rectangular shape and place it farther away with the right arm.",
+    "Pick up the black playing cards box using the right arm and shift it outward.",
+    "Pick the small black box with cards from the table and shift it outward.",
+    "Relocate the rectangle-shaped cards box farther outward using the right arm.",
+    "Pick up the compact box for playing cards and shift it further outward.",
+    "Lift the black box with rectangular shape with the right arm and move it outward.",
+    "Grab the rectangle-shaped cards box with the right arm and move it outward.",
+    "Use the right arm to pick the palm-sized box for playing cards and move it outward.",
+    "Lift the rectangular box for card storage and shift it outward.",
+    "Shift the rectangular box for card storage off the table to the side.",
+    "Lift the small black box with cards using the right arm and transfer it outward.",
+    "With the right arm, pick up the black playing cards box and slide it outward.",
+    "Pick up the box holding playing cards and move it farther outward.",
+    "Use the right arm to grab the box with cards inside and move it aside.",
+    "Pick up the box holding playing cards and move it away.",
+    "Grab the rectangle-shaped cards box using the right arm and push it outward.",
+    "Pick up the small black box with cards with the right arm and place it outward.",
+    "Shift the rectangle-shaped cards box outward by grabbing it with the right arm.",
+    "Pick up the cardboard playing cards box and place it further away.",
+    "Grab the small black box with cards and set it beyond the table.",
+    "Pick the smooth black cards container and slide it further outward.",
+    "Grab the playing cards box with gold text from the table and shift it outward.",
+    "Take the rectangular box for card storage and place it beyond the table.",
+    "Place the rectangle-shaped cards box away from the table outward.",
+    "Using the right arm, lift the smooth black cards container and move it outward.",
+    "Take the cardboard playing cards box and place it further outward.",
+    "Slide the rectangle-shaped cards box off the table outward.",
+    "Grab the box with cards inside and move it further away.",
+    "Grab the black playing cards box and take it away from the table.",
+    "Pick the palm-sized box for playing cards and move it outward from the table.",
+    "Grab the small black box with cards and move it further outward.",
+    "Lift the box holding playing cards and slide it off the table."
+  ],
+  "unseen": [
+    "Use the right arm to grab the gold text on playing cards box and move it outward.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Pick up the gold text on playing cards box and shift it outward.",
+    "Grab the black box with smooth surface and move it outward.",
+    "Lift the black box with smooth surface from the table and shift it.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Grab the hard black box for card deck and move it off the table.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Use the right arm to grab the hard black box for card deck and move it outward.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Pick up the hard black box for card deck and shift it outward.",
+    "Grab the gold text on playing cards box and move it outward.",
+    "Lift the hard black box for card deck from the table and shift it.",
+    "Use the right arm to grab the hard black box for card deck and relocate it.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Grab the black box with smooth surface and move it off the table.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Use the right arm to grab the gold text on playing cards box and move it outward.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Pick up the black box with smooth surface and shift it outward.",
+    "Grab the gold text on playing cards box and move it outward.",
+    "Lift the black box with smooth surface from the table and shift it.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Grab the gold text on playing cards box and move it off the table.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Use the right arm to grab the black box with smooth surface and move it outward.",
+    "Use the right arm to grab the hard black box for card deck and relocate it.",
+    "Pick up the black box with smooth surface and shift it outward.",
+    "Grab the hard black box for card deck and move it outward.",
+    "Lift the hard black box for card deck from the table and shift it.",
+    "Use the right arm to grab the hard black box for card deck and relocate it.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Grab the gold text on playing cards box and move it off the table.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Use the right arm to grab the hard black box for card deck and move it outward.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Pick up the gold text on playing cards box and shift it outward.",
+    "Grab the hard black box for card deck and move it outward.",
+    "Lift the black box with smooth surface from the table and shift it.",
+    "Use the right arm to grab the hard black box for card deck and relocate it.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Grab the hard black box for card deck and move it off the table.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Use the right arm to grab the hard black box for card deck and move it outward.",
+    "Use the right arm to grab the gold text on playing cards box and relocate it.",
+    "Pick up the black box with smooth surface and shift it outward.",
+    "Grab the gold text on playing cards box and move it outward.",
+    "Lift the hard black box for card deck from the table and shift it.",
+    "Use the right arm to grab the hard black box for card deck and relocate it.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Grab the gold text on playing cards box and move it off the table.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Use the right arm to grab the gold text on playing cards box and move it outward.",
+    "Use the right arm to grab the gold text on playing cards box and relocate it.",
+    "Pick up the gold text on playing cards box and shift it outward.",
+    "Grab the black box with smooth surface and move it outward.",
+    "Lift the black box with smooth surface from the table and shift it.",
+    "Use the right arm to grab the hard black box for card deck and relocate it.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Grab the gold text on playing cards box and move it off the table.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Use the right arm to grab the gold text on playing cards box and move it outward.",
+    "Use the right arm to grab the gold text on playing cards box and relocate it.",
+    "Pick up the hard black box for card deck and shift it outward.",
+    "Grab the gold text on playing cards box and move it outward.",
+    "Lift the gold text on playing cards box from the table and shift it.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Grab the hard black box for card deck and move it off the table.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Use the right arm to grab the black box with smooth surface and move it outward.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Pick up the gold text on playing cards box and shift it outward.",
+    "Grab the hard black box for card deck and move it outward.",
+    "Lift the hard black box for card deck from the table and shift it.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Grab the gold text on playing cards box and move it off the table.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Use the right arm to grab the black box with smooth surface and move it outward.",
+    "Use the right arm to grab the hard black box for card deck and relocate it.",
+    "Pick up the gold text on playing cards box and shift it outward.",
+    "Grab the gold text on playing cards box and move it outward.",
+    "Lift the gold text on playing cards box from the table and shift it.",
+    "Use the right arm to grab the hard black box for card deck and relocate it.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Grab the hard black box for card deck and move it off the table.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Pick up the hard black box for card deck and move it outward."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10008187.json b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10008187.json
new file mode 100644
index 0000000000000000000000000000000000000000..6202d7b7128290daa7fffc0c471ff3e9edfbe421
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10008187.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the box of playingcards and set it away from the table.",
+    "Grab the small playingcards container from the table and shift it outward.",
+    "Grab the palm-sized playingcards carton and take it away from the table.",
+    "Grab the palm-sized playingcards carton with the left arm and move it outward.",
+    "Lift the card box with golden designs and slide it off the table.",
+    "Pick up the playingcards box with white symbols with the left arm and place it outward.",
+    "Use the left arm to pick the smooth playingcards holder and move it outward.",
+    "Lift the playingcards pack with blue top and push it off the table.",
+    "Move the small playingcards container farther from the table using the left arm.",
+    "Use the left arm to pick the palm-sized playingcards carton and shift it outward.",
+    "Grab the card box with golden designs and move it further outward.",
+    "Move the blue playingcards box further outward after picking it up.",
+    "Take the rectangular blue playingcards case and push it further away.",
+    "Place the blue pack holding playingcards away from the table outward.",
+    "Pick up the palm-sized playingcards carton and move it away.",
+    "Lift the card box with golden designs and relocate it off the table.",
+    "Pick up the rectangular blue playingcards case and move it farther outward.",
+    "Grab the card box with golden designs and move it further away.",
+    "Shift the palm-sized playingcards carton outward by grabbing it with the left arm.",
+    "Slide the blue pack holding playingcards off the table outward.",
+    "Pick the card box with golden designs and move it outward from the table.",
+    "Lift the rectangular blue playingcards case and shift it outward.",
+    "Use the left arm to pick up the rectangular blue playingcards case and move it.",
+    "Move the blue carton for playingcards outward from the table.",
+    "Lift the smooth playingcards holder using the left arm and transfer it outward.",
+    "Using the left arm, lift the card box with golden designs and move it outward.",
+    "Pick up the card box with golden designs using the left arm and shift it outward.",
+    "Use the left arm to pick up the card box with golden designs and push it outward.",
+    "Relocate the box of playingcards farther outward using the left arm.",
+    "Take the palm-sized playingcards carton and place it beyond the table.",
+    "Move the blue playingcards box away from its position on the table.",
+    "Lift the small playingcards container and place it farther away with the left arm.",
+    "Grab the card box with golden designs using the left arm and move it outward.",
+    "Pick up the playingcards box with white symbols and place it further away.",
+    "Pick up the blue and white playingcards packaging and shift it further outward.",
+    "Pick the blue playingcards box and slide it further outward.",
+    "Take the blue and white playingcards packaging and place it further outward.",
+    "Grab the blue and white playingcards packaging and set it beyond the table.",
+    "Lift the palm-sized playingcards carton from the table and move it outward.",
+    "Shift the playingcards pack with blue top outward after grabbing it.",
+    "Grab the palm-sized playingcards carton and shift it farther away from the table.",
+    "Pick the blue playingcards box from the table and shift it outward.",
+    "Use the left arm to grab the playingcards box with white symbols and move it away.",
+    "Grab the playingcards box with white symbols using the left arm and push it outward.",
+    "Take the blue pack holding playingcards and move it away from the table.",
+    "Shift the box of playingcards off the table to the side.",
+    "Lift the blue playingcards box with the left arm and move it outward.",
+    "Use the left arm to grab the small playingcards container and move it aside.",
+    "With the left arm, pick up the box of playingcards and slide it outward.",
+    "Move the smooth playingcards holder off the table outward.",
+    "Lift the playingcards box with white symbols and set it away from the table.",
+    "Grab the playingcards pack with blue top from the table and shift it outward.",
+    "Grab the playingcards box with white symbols and take it away from the table.",
+    "Grab the smooth playingcards holder with the left arm and move it outward.",
+    "Lift the rectangular blue playingcards case and slide it off the table.",
+    "Pick up the rectangular blue playingcards case with the left arm and place it outward.",
+    "Use the left arm to pick the palm-sized playingcards carton and move it outward.",
+    "Lift the blue carton for playingcards and push it off the table.",
+    "Move the playingcards box with white symbols farther from the table using the left arm.",
+    "Use the left arm to pick the blue carton for playingcards and shift it outward.",
+    "Grab the box of playingcards and move it further outward.",
+    "Move the blue and white playingcards packaging further outward after picking it up.",
+    "Take the blue carton for playingcards and push it further away.",
+    "Place the card box with golden designs away from the table outward.",
+    "Pick up the blue carton for playingcards and move it away.",
+    "Lift the small playingcards container and relocate it off the table.",
+    "Pick up the card box with golden designs and move it farther outward.",
+    "Grab the small playingcards container and move it further away.",
+    "Shift the blue carton for playingcards outward by grabbing it with the left arm.",
+    "Slide the small playingcards container off the table outward.",
+    "Pick the blue playingcards box and move it outward from the table.",
+    "Lift the small playingcards container and shift it outward.",
+    "Use the left arm to pick up the blue and white playingcards packaging and move it.",
+    "Move the blue playingcards box outward from the table.",
+    "Lift the small playingcards container using the left arm and transfer it outward.",
+    "Using the left arm, lift the blue carton for playingcards and move it outward.",
+    "Pick up the blue and white playingcards packaging using the left arm and shift it outward.",
+    "Use the left arm to pick up the blue and white playingcards packaging and push it outward.",
+    "Relocate the rectangular blue playingcards case farther outward using the left arm.",
+    "Take the blue playingcards box and place it beyond the table.",
+    "Move the palm-sized playingcards carton away from its position on the table.",
+    "Lift the blue carton for playingcards and place it farther away with the left arm.",
+    "Grab the smooth playingcards holder using the left arm and move it outward.",
+    "Pick up the playingcards pack with blue top and place it further away.",
+    "Pick up the smooth playingcards holder and shift it further outward.",
+    "Pick the palm-sized playingcards carton and slide it further outward.",
+    "Take the small playingcards container and place it further outward.",
+    "Grab the blue carton for playingcards and set it beyond the table.",
+    "Lift the playingcards pack with blue top from the table and move it outward.",
+    "Shift the box of playingcards outward after grabbing it.",
+    "Grab the blue carton for playingcards and shift it farther away from the table.",
+    "Pick the palm-sized playingcards carton from the table and shift it outward.",
+    "Use the left arm to grab the playingcards box with white symbols and move it away.",
+    "Grab the playingcards box with white symbols using the left arm and push it outward.",
+    "Take the box of playingcards and move it away from the table.",
+    "Shift the box of playingcards off the table to the side.",
+    "Lift the playingcards box with white symbols with the left arm and move it outward.",
+    "Use the left arm to grab the box of playingcards and move it aside.",
+    "With the left arm, pick up the playingcards box with white symbols and slide it outward.",
+    "Move the palm-sized playingcards carton off the table outward."
+  ],
+  "unseen": [
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the small packet of playingcards and shift it outward.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Use the left arm to grab the small packet of playingcards and move it outward.",
+    "Lift the small packet of playingcards from the table and shift it.",
+    "Grab the rectangular playingcards pack and move it off the table.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Grab the small packet of playingcards and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the small packet of playingcards and shift it outward.",
+    "Use the left arm to grab the small packet of playingcards and relocate it.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and move it outward.",
+    "Lift the small packet of playingcards from the table and shift it.",
+    "Grab the rectangular playingcards pack and move it off the table.",
+    "Use the left arm to grab the small packet of playingcards and relocate it.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Grab the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Pick up the small packet of playingcards and shift it outward.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Use the left arm to grab the rectangular playingcards pack and move it outward.",
+    "Lift the rectangular playingcards case with patterns from the table and shift it.",
+    "Grab the rectangular playingcards pack and move it off the table.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Grab the small packet of playingcards and move it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Pick up the small packet of playingcards and shift it outward.",
+    "Use the left arm to grab the rectangular playingcards pack and relocate it.",
+    "Use the left arm to grab the rectangular playingcards pack and move it outward.",
+    "Lift the rectangular playingcards case with patterns from the table and shift it.",
+    "Grab the rectangular playingcards pack and move it off the table.",
+    "Use the left arm to grab the rectangular playingcards pack and relocate it.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Grab the rectangular playingcards pack and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards pack and shift it outward.",
+    "Use the left arm to grab the rectangular playingcards pack and relocate it.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and move it outward.",
+    "Lift the small packet of playingcards from the table and shift it.",
+    "Grab the rectangular playingcards case with patterns and move it off the table.",
+    "Use the left arm to grab the rectangular playingcards pack and relocate it.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Grab the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards pack and shift it outward.",
+    "Use the left arm to grab the rectangular playingcards pack and relocate it.",
+    "Use the left arm to grab the small packet of playingcards and move it outward.",
+    "Lift the rectangular playingcards pack from the table and shift it.",
+    "Grab the rectangular playingcards pack and move it off the table.",
+    "Use the left arm to grab the small packet of playingcards and relocate it.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Grab the small packet of playingcards and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards pack and shift it outward.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Use the left arm to grab the rectangular playingcards pack and move it outward.",
+    "Lift the rectangular playingcards pack from the table and shift it.",
+    "Grab the rectangular playingcards case with patterns and move it off the table.",
+    "Use the left arm to grab the rectangular playingcards pack and relocate it.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Grab the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Pick up the small packet of playingcards and shift it outward.",
+    "Use the left arm to grab the rectangular playingcards pack and relocate it.",
+    "Use the left arm to grab the small packet of playingcards and move it outward.",
+    "Lift the small packet of playingcards from the table and shift it.",
+    "Grab the rectangular playingcards case with patterns and move it off the table.",
+    "Use the left arm to grab the small packet of playingcards and relocate it.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Grab the small packet of playingcards and move it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Pick up the rectangular playingcards pack and shift it outward.",
+    "Use the left arm to grab the rectangular playingcards pack and relocate it.",
+    "Use the left arm to grab the small packet of playingcards and move it outward.",
+    "Lift the rectangular playingcards case with patterns from the table and shift it.",
+    "Grab the rectangular playingcards pack and move it off the table.",
+    "Use the left arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Grab the small packet of playingcards and move it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Pick up the small packet of playingcards and shift it outward.",
+    "Use the left arm to grab the rectangular playingcards pack and relocate it.",
+    "Use the left arm to grab the small packet of playingcards and move it outward.",
+    "Lift the rectangular playingcards pack from the table and shift it.",
+    "Grab the small packet of playingcards and move it off the table.",
+    "Use the left arm to grab the rectangular playingcards pack and relocate it.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Grab the rectangular playingcards case with patterns and move it outward."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10008250.json b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10008250.json
new file mode 100644
index 0000000000000000000000000000000000000000..c08ef777be8febdd9a0268478ba73df72cadee1b
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10008250.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shift the red and yellow playingcards case outward after grabbing it.",
+    "Lift the glossy rectangular playingcards box and push it off the table.",
+    "Lift the box for playingcards and slide it off the table.",
+    "Slide the box for playingcards off the table outward.",
+    "Grab the smooth playingcards pack with the right arm and move it outward.",
+    "Grab the compact red playingcards pack and set it beyond the table.",
+    "Lift the yellow and red playingcards box with the right arm and move it outward.",
+    "Lift the yellow and red playingcards box and relocate it off the table.",
+    "Move the small playingcards pack away from its position on the table.",
+    "Grab the rectangular playingcards case and move it further outward.",
+    "Use the right arm to pick the compact red playingcards pack and move it outward.",
+    "Grab the playingcards storage box and shift it farther away from the table.",
+    "With the right arm, pick up the playingcards box with white accents and slide it outward.",
+    "Move the yellow and red playingcards box outward from the table.",
+    "Move the compact red playingcards pack farther from the table using the right arm.",
+    "Use the right arm to pick up the playingcards box with white accents and push it outward.",
+    "Place the hand-sized playingcards container away from the table outward.",
+    "Lift the playingcards box with white accents from the table and move it outward.",
+    "Use the right arm to pick the yellow and red playingcards box and shift it outward.",
+    "Lift the red playingcards box and shift it outward.",
+    "Grab the compact red playingcards pack using the right arm and move it outward.",
+    "Use the right arm to grab the compact red playingcards pack and move it aside.",
+    "Relocate the playingcards box with white accents farther outward using the right arm.",
+    "Grab the red and yellow playingcards case using the right arm and push it outward.",
+    "Grab the small playingcards pack from the table and shift it outward.",
+    "Pick up the playingcards box with white accents and move it farther outward.",
+    "Pick up the box for playingcards using the right arm and shift it outward.",
+    "Use the right arm to grab the smooth playingcards pack and move it away.",
+    "Using the right arm, lift the hand-sized playingcards container and move it outward.",
+    "Lift the red and yellow playingcards case using the right arm and transfer it outward.",
+    "Pick the compact red playingcards pack and move it outward from the table.",
+    "Take the box for playingcards and place it beyond the table.",
+    "Shift the red playingcards box outward by grabbing it with the right arm.",
+    "Pick up the hand-sized playingcards container and move it away.",
+    "Pick up the glossy rectangular playingcards box with the right arm and place it outward.",
+    "Take the rectangular playingcards case and move it away from the table.",
+    "Take the compact red playingcards pack and push it further away.",
+    "Pick the box for playingcards from the table and shift it outward.",
+    "Take the small playingcards pack and place it further outward.",
+    "Grab the yellow and red playingcards box and move it further away.",
+    "Lift the yellow and red playingcards box and set it away from the table.",
+    "Pick the glossy rectangular playingcards box and slide it further outward.",
+    "Lift the hand-sized playingcards container and place it farther away with the right arm.",
+    "Pick up the yellow and red playingcards box and place it further away.",
+    "Pick up the playingcards storage box and shift it further outward.",
+    "Move the small playingcards pack further outward after picking it up.",
+    "Grab the small playingcards pack and take it away from the table.",
+    "Use the right arm to pick up the red playingcards box and move it.",
+    "Move the playingcards storage box off the table outward.",
+    "Shift the smooth playingcards pack off the table to the side.",
+    "Shift the compact red playingcards pack outward after grabbing it.",
+    "Lift the hand-sized playingcards container and push it off the table.",
+    "Lift the yellow and red playingcards box and slide it off the table.",
+    "Slide the compact red playingcards pack off the table outward.",
+    "Grab the glossy rectangular playingcards box with the right arm and move it outward.",
+    "Grab the box for playingcards and set it beyond the table.",
+    "Lift the playingcards storage box with the right arm and move it outward.",
+    "Lift the red playingcards box and relocate it off the table.",
+    "Move the rectangular playingcards case away from its position on the table.",
+    "Grab the small playingcards pack and move it further outward.",
+    "Use the right arm to pick the hand-sized playingcards container and move it outward.",
+    "Grab the red playingcards box and shift it farther away from the table.",
+    "With the right arm, pick up the glossy rectangular playingcards box and slide it outward.",
+    "Move the hand-sized playingcards container outward from the table.",
+    "Move the playingcards box with white accents farther from the table using the right arm.",
+    "Use the right arm to pick up the box for playingcards and push it outward.",
+    "Place the playingcards box with white accents away from the table outward.",
+    "Lift the yellow and red playingcards box from the table and move it outward.",
+    "Use the right arm to pick the red playingcards box and shift it outward.",
+    "Lift the yellow and red playingcards box and shift it outward.",
+    "Grab the hand-sized playingcards container using the right arm and move it outward.",
+    "Use the right arm to grab the glossy rectangular playingcards box and move it aside.",
+    "Relocate the glossy rectangular playingcards box farther outward using the right arm.",
+    "Grab the playingcards storage box using the right arm and push it outward.",
+    "Grab the red playingcards box from the table and shift it outward.",
+    "Pick up the small playingcards pack and move it farther outward.",
+    "Pick up the playingcards storage box using the right arm and shift it outward.",
+    "Use the right arm to grab the glossy rectangular playingcards box and move it away.",
+    "Using the right arm, lift the red and yellow playingcards case and move it outward.",
+    "Lift the red playingcards box using the right arm and transfer it outward.",
+    "Pick the rectangular playingcards case and move it outward from the table.",
+    "Take the box for playingcards and place it beyond the table.",
+    "Shift the small playingcards pack outward by grabbing it with the right arm.",
+    "Pick up the box for playingcards and move it away.",
+    "Pick up the glossy rectangular playingcards box with the right arm and place it outward.",
+    "Take the playingcards storage box and move it away from the table.",
+    "Take the rectangular playingcards case and push it further away.",
+    "Pick the playingcards box with white accents from the table and shift it outward.",
+    "Take the box for playingcards and place it further outward.",
+    "Grab the hand-sized playingcards container and move it further away.",
+    "Lift the smooth playingcards pack and set it away from the table.",
+    "Pick the smooth playingcards pack and slide it further outward.",
+    "Lift the yellow and red playingcards box and place it farther away with the right arm.",
+    "Pick up the glossy rectangular playingcards box and place it further away.",
+    "Pick up the yellow and red playingcards box and shift it further outward.",
+    "Move the playingcards box with white accents further outward after picking it up.",
+    "Grab the small playingcards pack and take it away from the table.",
+    "Use the right arm to pick up the small playingcards pack and move it.",
+    "Move the glossy rectangular playingcards box off the table outward.",
+    "Shift the rectangular playingcards case off the table to the side."
+  ],
+  "unseen": [
+    "Use the right arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Use the right arm to grab the playingcards with red packaging and move it outward.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Grab the playingcards with red packaging and move it outward.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Use the right arm to grab the rectangular red playingcards holder and relocate it.",
+    "Use the right arm to grab the playingcards with red packaging and move it outward.",
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Use the right arm to grab the rectangular red playingcards holder and relocate it.",
+    "Use the right arm to grab the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Grab the small box for playingcards and move it outward.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Use the right arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Use the right arm to grab the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and shift it outward.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Lift the rectangular red playingcards holder from the table and shift it.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Use the right arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Use the right arm to grab the small box for playingcards and move it outward.",
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Grab the small box for playingcards and move it outward.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Use the right arm to grab the rectangular red playingcards holder and move it outward.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Use the right arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Use the right arm to grab the rectangular red playingcards holder and relocate it.",
+    "Use the right arm to grab the small box for playingcards and move it outward.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Grab the small box for playingcards and move it outward.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Grab the small box for playingcards and move it off the table.",
+    "Use the right arm to grab the small box for playingcards and relocate it.",
+    "Use the right arm to grab the small box for playingcards and move it outward.",
+    "Pick up the playingcards with red packaging and shift it outward.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Use the right arm to grab the rectangular red playingcards holder and relocate it.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Grab the playingcards with red packaging and move it off the table.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Use the right arm to grab the playingcards with red packaging and move it outward.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Grab the small box for playingcards and move it outward.",
+    "Lift the playingcards with red packaging from the table and shift it.",
+    "Pick up the playingcards with red packaging and move it outward.",
+    "Use the right arm to grab the playingcards with red packaging and relocate it.",
+    "Pick up the rectangular red playingcards holder and move it outward.",
+    "Pick up the small box for playingcards and move it outward.",
+    "Grab the rectangular red playingcards holder and move it off the table.",
+    "Use the right arm to grab the rectangular red playingcards holder and relocate it.",
+    "Use the right arm to grab the small box for playingcards and move it outward.",
+    "Pick up the rectangular red playingcards holder and shift it outward.",
+    "Grab the rectangular red playingcards holder and move it outward.",
+    "Lift the small box for playingcards from the table and shift it.",
+    "Pick up the rectangular red playingcards holder and move it outward."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10008259.json b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10008259.json
new file mode 100644
index 0000000000000000000000000000000000000000..d018e372b301598999bda23a8b0cf91b91e9b29c
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10008259.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the blue carton for playingcards from the table and move it outward.",
+    "Lift the playingcards pack with blue top and set it away from the table.",
+    "Pick up the playingcards pack with blue top with the right arm and place it outward.",
+    "Lift the card box with golden designs with the right arm and move it outward.",
+    "Pick the small playingcards container and move it outward from the table.",
+    "Use the right arm to pick up the blue pack holding playingcards and move it.",
+    "Grab the blue pack holding playingcards and move it further away.",
+    "Pick the box of playingcards from the table and shift it outward.",
+    "Move the card box with golden designs farther from the table using the right arm.",
+    "Use the right arm to pick the blue and white playingcards packaging and shift it outward.",
+    "Lift the small playingcards container and push it off the table.",
+    "Pick up the playingcards box with white symbols and shift it further outward.",
+    "Pick up the palm-sized playingcards carton and move it away.",
+    "Move the small playingcards container away from its position on the table.",
+    "Grab the card box with golden designs and move it further outward.",
+    "Shift the rectangular blue playingcards case outward by grabbing it with the right arm.",
+    "Use the right arm to grab the smooth playingcards holder and move it away.",
+    "Relocate the playingcards box with white symbols farther outward using the right arm.",
+    "Lift the box of playingcards and relocate it off the table.",
+    "Using the right arm, lift the small playingcards container and move it outward.",
+    "Use the right arm to grab the playingcards box with white symbols and move it aside.",
+    "Use the right arm to pick up the box of playingcards and push it outward.",
+    "Grab the blue pack holding playingcards and take it away from the table.",
+    "Move the card box with golden designs outward from the table.",
+    "Take the playingcards box with white symbols and push it further away.",
+    "Take the playingcards pack with blue top and place it beyond the table.",
+    "Shift the blue pack holding playingcards outward after grabbing it.",
+    "Use the right arm to pick the playingcards pack with blue top and move it outward.",
+    "Pick up the blue and white playingcards packaging and place it further away.",
+    "With the right arm, pick up the box of playingcards and slide it outward.",
+    "Move the box of playingcards off the table outward.",
+    "Grab the playingcards box with white symbols with the right arm and move it outward.",
+    "Grab the blue carton for playingcards using the right arm and push it outward.",
+    "Lift the palm-sized playingcards carton and place it farther away with the right arm.",
+    "Lift the blue playingcards box and shift it outward.",
+    "Lift the blue carton for playingcards using the right arm and transfer it outward.",
+    "Pick up the blue and white playingcards packaging and move it farther outward.",
+    "Grab the playingcards pack with blue top using the right arm and move it outward.",
+    "Pick up the playingcards pack with blue top using the right arm and shift it outward.",
+    "Pick the card box with golden designs and slide it further outward.",
+    "Move the playingcards box with white symbols further outward after picking it up.",
+    "Shift the blue playingcards box off the table to the side.",
+    "Grab the rectangular blue playingcards case from the table and shift it outward.",
+    "Lift the box of playingcards and slide it off the table.",
+    "Take the palm-sized playingcards carton and place it further outward.",
+    "Place the smooth playingcards holder away from the table outward.",
+    "Grab the blue pack holding playingcards and shift it farther away from the table.",
+    "Slide the rectangular blue playingcards case off the table outward.",
+    "Take the blue and white playingcards packaging and move it away from the table.",
+    "Grab the blue playingcards box and set it beyond the table.",
+    "Lift the blue and white playingcards packaging from the table and move it outward.",
+    "Lift the blue pack holding playingcards and set it away from the table.",
+    "Pick up the box of playingcards with the right arm and place it outward.",
+    "Lift the blue playingcards box with the right arm and move it outward.",
+    "Pick the box of playingcards and move it outward from the table.",
+    "Use the right arm to pick up the small playingcards container and move it.",
+    "Grab the playingcards pack with blue top and move it further away.",
+    "Pick the card box with golden designs from the table and shift it outward.",
+    "Move the box of playingcards farther from the table using the right arm.",
+    "Use the right arm to pick the blue playingcards box and shift it outward.",
+    "Lift the smooth playingcards holder and push it off the table.",
+    "Pick up the playingcards pack with blue top and shift it further outward.",
+    "Pick up the playingcards pack with blue top and move it away.",
+    "Move the blue playingcards box away from its position on the table.",
+    "Grab the blue carton for playingcards and move it further outward.",
+    "Shift the box of playingcards outward by grabbing it with the right arm.",
+    "Use the right arm to grab the small playingcards container and move it away.",
+    "Relocate the blue pack holding playingcards farther outward using the right arm.",
+    "Lift the blue pack holding playingcards and relocate it off the table.",
+    "Using the right arm, lift the card box with golden designs and move it outward.",
+    "Use the right arm to grab the rectangular blue playingcards case and move it aside.",
+    "Use the right arm to pick up the rectangular blue playingcards case and push it outward.",
+    "Grab the blue pack holding playingcards and take it away from the table.",
+    "Move the small playingcards container outward from the table.",
+    "Take the blue carton for playingcards and push it further away.",
+    "Take the blue and white playingcards packaging and place it beyond the table.",
+    "Shift the palm-sized playingcards carton outward after grabbing it.",
+    "Use the right arm to pick the card box with golden designs and move it outward.",
+    "Pick up the blue and white playingcards packaging and place it further away.",
+    "With the right arm, pick up the rectangular blue playingcards case and slide it outward.",
+    "Move the rectangular blue playingcards case off the table outward.",
+    "Grab the smooth playingcards holder with the right arm and move it outward.",
+    "Grab the blue and white playingcards packaging using the right arm and push it outward.",
+    "Lift the playingcards pack with blue top and place it farther away with the right arm.",
+    "Lift the blue and white playingcards packaging and shift it outward.",
+    "Lift the blue pack holding playingcards using the right arm and transfer it outward.",
+    "Pick up the blue carton for playingcards and move it farther outward.",
+    "Grab the blue playingcards box using the right arm and move it outward.",
+    "Pick up the box of playingcards using the right arm and shift it outward.",
+    "Pick the blue pack holding playingcards and slide it further outward.",
+    "Move the blue and white playingcards packaging further outward after picking it up.",
+    "Shift the small playingcards container off the table to the side.",
+    "Grab the rectangular blue playingcards case from the table and shift it outward.",
+    "Lift the rectangular blue playingcards case and slide it off the table.",
+    "Take the small playingcards container and place it further outward.",
+    "Place the smooth playingcards holder away from the table outward.",
+    "Grab the blue carton for playingcards and shift it farther away from the table.",
+    "Slide the palm-sized playingcards carton off the table outward.",
+    "Take the playingcards box with white symbols and move it away from the table.",
+    "Grab the playingcards box with white symbols and set it beyond the table."
+  ],
+  "unseen": [
+    "Use the right arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Lift the rectangular playingcards pack from the table and shift it.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards pack and shift it outward.",
+    "Use the right arm to grab the small packet of playingcards and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Grab the rectangular playingcards pack and move it off the table.",
+    "Use the right arm to grab the rectangular playingcards pack and relocate it.",
+    "Grab the rectangular playingcards case with patterns and move it outward.",
+    "Use the right arm to grab the small packet of playingcards and relocate it.",
+    "Lift the rectangular playingcards pack from the table and shift it.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and shift it outward.",
+    "Use the right arm to grab the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Grab the rectangular playingcards pack and move it off the table.",
+    "Use the right arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Grab the rectangular playingcards case with patterns and move it outward.",
+    "Use the right arm to grab the small packet of playingcards and relocate it.",
+    "Lift the rectangular playingcards case with patterns from the table and shift it.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and shift it outward.",
+    "Use the right arm to grab the small packet of playingcards and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Grab the small packet of playingcards and move it off the table.",
+    "Use the right arm to grab the rectangular playingcards pack and relocate it.",
+    "Grab the rectangular playingcards case with patterns and move it outward.",
+    "Use the right arm to grab the rectangular playingcards pack and relocate it.",
+    "Lift the rectangular playingcards case with patterns from the table and shift it.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards pack and shift it outward.",
+    "Use the right arm to grab the small packet of playingcards and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Grab the small packet of playingcards and move it off the table.",
+    "Use the right arm to grab the small packet of playingcards and relocate it.",
+    "Grab the small packet of playingcards and move it outward.",
+    "Use the right arm to grab the small packet of playingcards and relocate it.",
+    "Lift the rectangular playingcards pack from the table and shift it.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Pick up the rectangular playingcards pack and shift it outward.",
+    "Use the right arm to grab the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Grab the rectangular playingcards case with patterns and move it off the table.",
+    "Use the right arm to grab the rectangular playingcards pack and relocate it.",
+    "Grab the rectangular playingcards case with patterns and move it outward.",
+    "Use the right arm to grab the small packet of playingcards and relocate it.",
+    "Lift the rectangular playingcards pack from the table and shift it.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Pick up the rectangular playingcards pack and shift it outward.",
+    "Use the right arm to grab the small packet of playingcards and move it outward.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Grab the rectangular playingcards pack and move it off the table.",
+    "Use the right arm to grab the small packet of playingcards and relocate it.",
+    "Grab the rectangular playingcards pack and move it outward.",
+    "Use the right arm to grab the rectangular playingcards pack and relocate it.",
+    "Lift the rectangular playingcards pack from the table and shift it.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and shift it outward.",
+    "Use the right arm to grab the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Pick up the rectangular playingcards pack and move it outward.",
+    "Grab the rectangular playingcards pack and move it off the table.",
+    "Use the right arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Grab the small packet of playingcards and move it outward.",
+    "Use the right arm to grab the small packet of playingcards and relocate it.",
+    "Lift the small packet of playingcards from the table and shift it.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the small packet of playingcards and shift it outward.",
+    "Use the right arm to grab the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Grab the rectangular playingcards case with patterns and move it off the table.",
+    "Use the right arm to grab the rectangular playingcards pack and relocate it.",
+    "Grab the rectangular playingcards pack and move it outward.",
+    "Use the right arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Lift the small packet of playingcards from the table and shift it.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Pick up the rectangular playingcards pack and shift it outward.",
+    "Use the right arm to grab the small packet of playingcards and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Grab the small packet of playingcards and move it off the table.",
+    "Use the right arm to grab the rectangular playingcards pack and relocate it.",
+    "Grab the rectangular playingcards pack and move it outward.",
+    "Use the right arm to grab the rectangular playingcards case with patterns and relocate it.",
+    "Lift the rectangular playingcards case with patterns from the table and shift it.",
+    "Pick up the small packet of playingcards and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and shift it outward.",
+    "Use the right arm to grab the small packet of playingcards and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Pick up the rectangular playingcards case with patterns and move it outward.",
+    "Grab the rectangular playingcards case with patterns and move it off the table.",
+    "Use the right arm to grab the small packet of playingcards and relocate it.",
+    "Grab the rectangular playingcards pack and move it outward."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10008265.json b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10008265.json
new file mode 100644
index 0000000000000000000000000000000000000000..efb82c7dccf2a708a6f0a766a373c82bf7556ca8
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/move_playingcard_away/episode10008265.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to grab the rectangle-shaped cards box and move it away.",
+    "Pick up the box holding playing cards and move it away.",
+    "Pick up the compact box for playing cards using the right arm and shift it outward.",
+    "Shift the rectangular box for card storage outward by grabbing it with the right arm.",
+    "Grab the box holding playing cards and take it away from the table.",
+    "Pick up the black box with rectangular shape and place it further away.",
+    "Shift the small black box with cards outward after grabbing it.",
+    "Shift the black playing cards box off the table to the side.",
+    "Pick up the rectangular box for card storage and shift it further outward.",
+    "Move the smooth black cards container off the table outward.",
+    "Lift the compact box for playing cards from the table and move it outward.",
+    "Lift the smooth black cards container and relocate it off the table.",
+    "Take the black playing cards box and place it beyond the table.",
+    "Use the right arm to grab the smooth black cards container and move it aside.",
+    "Grab the rectangle-shaped cards box using the right arm and move it outward.",
+    "Move the playing cards box with gold text outward from the table.",
+    "Use the right arm to pick the compact box for playing cards and shift it outward.",
+    "Lift the box holding playing cards and shift it outward.",
+    "Move the compact box for playing cards farther from the table using the right arm.",
+    "Pick the small black box with cards from the table and shift it outward.",
+    "Use the right arm to pick up the box holding playing cards and move it.",
+    "Move the rectangle-shaped cards box further outward after picking it up.",
+    "Grab the black playing cards box using the right arm and push it outward.",
+    "Lift the black playing cards box and slide it off the table.",
+    "Relocate the rectangle-shaped cards box farther outward using the right arm.",
+    "Pick the box with cards inside and move it outward from the table.",
+    "Take the palm-sized box for playing cards and place it further outward.",
+    "Pick up the playing cards box with gold text and move it farther outward.",
+    "Slide the box with cards inside off the table outward.",
+    "Use the right arm to pick up the small black box with cards and push it outward.",
+    "Lift the black box with rectangular shape with the right arm and move it outward.",
+    "Lift the box holding playing cards and push it off the table.",
+    "Lift the small black box with cards and place it farther away with the right arm.",
+    "Grab the box with cards inside from the table and shift it outward.",
+    "With the right arm, pick up the box holding playing cards and slide it outward.",
+    "Lift the palm-sized box for playing cards and set it away from the table.",
+    "Take the black playing cards box and push it further away.",
+    "Pick the compact box for playing cards and slide it further outward.",
+    "Grab the small black box with cards with the right arm and move it outward.",
+    "Grab the black box with rectangular shape and shift it farther away from the table.",
+    "Using the right arm, lift the smooth black cards container and move it outward.",
+    "Grab the black box with rectangular shape and move it further outward.",
+    "Grab the rectangle-shaped cards box and move it further away.",
+    "Place the box with cards inside away from the table outward.",
+    "Take the small black box with cards and move it away from the table.",
+    "Grab the box holding playing cards and set it beyond the table.",
+    "Move the black box with rectangular shape away from its position on the table.",
+    "Use the right arm to pick the cardboard playing cards box and move it outward.",
+    "Lift the small black box with cards using the right arm and transfer it outward.",
+    "Pick up the black box with rectangular shape with the right arm and place it outward.",
+    "Use the right arm to grab the palm-sized box for playing cards and move it away.",
+    "Pick up the playing cards box with gold text and move it away.",
+    "Pick up the box holding playing cards using the right arm and shift it outward.",
+    "Shift the rectangular box for card storage outward by grabbing it with the right arm.",
+    "Grab the box with cards inside and take it away from the table.",
+    "Pick up the smooth black cards container and place it further away.",
+    "Shift the small black box with cards outward after grabbing it.",
+    "Shift the cardboard playing cards box off the table to the side.",
+    "Pick up the box with cards inside and shift it further outward.",
+    "Move the smooth black cards container off the table outward.",
+    "Lift the palm-sized box for playing cards from the table and move it outward.",
+    "Lift the small black box with cards and relocate it off the table.",
+    "Take the rectangular box for card storage and place it beyond the table.",
+    "Use the right arm to grab the black box with rectangular shape and move it aside.",
+    "Grab the box with cards inside using the right arm and move it outward.",
+    "Move the black box with rectangular shape outward from the table.",
+    "Use the right arm to pick the box holding playing cards and shift it outward.",
+    "Lift the black box with rectangular shape and shift it outward.",
+    "Move the cardboard playing cards box farther from the table using the right arm.",
+    "Pick the compact box for playing cards from the table and shift it outward.",
+    "Use the right arm to pick up the box holding playing cards and move it.",
+    "Move the box with cards inside further outward after picking it up.",
+    "Grab the cardboard playing cards box using the right arm and push it outward.",
+    "Lift the compact box for playing cards and slide it off the table.",
+    "Relocate the compact box for playing cards farther outward using the right arm.",
+    "Pick the black box with rectangular shape and move it outward from the table.",
+    "Take the black box with rectangular shape and place it further outward.",
+    "Pick up the rectangular box for card storage and move it farther outward.",
+    "Slide the rectangle-shaped cards box off the table outward.",
+    "Use the right arm to pick up the compact box for playing cards and push it outward.",
+    "Lift the box holding playing cards with the right arm and move it outward.",
+    "Lift the black playing cards box and push it off the table.",
+    "Lift the rectangle-shaped cards box and place it farther away with the right arm.",
+    "Grab the small black box with cards from the table and shift it outward.",
+    "With the right arm, pick up the compact box for playing cards and slide it outward.",
+    "Lift the compact box for playing cards and set it away from the table.",
+    "Take the box holding playing cards and push it further away.",
+    "Pick the rectangular box for card storage and slide it further outward.",
+    "Grab the compact box for playing cards with the right arm and move it outward.",
+    "Grab the smooth black cards container and shift it farther away from the table.",
+    "Using the right arm, lift the black box with rectangular shape and move it outward.",
+    "Grab the black playing cards box and move it further outward.",
+    "Grab the rectangular box for card storage and move it further away.",
+    "Place the box holding playing cards away from the table outward.",
+    "Take the box with cards inside and move it away from the table.",
+    "Grab the playing cards box with gold text and set it beyond the table.",
+    "Move the black playing cards box away from its position on the table.",
+    "Use the right arm to pick the black box with rectangular shape and move it outward.",
+    "Lift the rectangle-shaped cards box using the right arm and transfer it outward.",
+    "Pick up the small black box with cards with the right arm and place it outward."
+  ],
+  "unseen": [
+    "Use the right arm to grab the black box with smooth surface and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Use the right arm to grab the gold text on playing cards box and relocate it.",
+    "Pick up the gold text on playing cards box and shift it outward.",
+    "Grab the black box with smooth surface and move it off the table.",
+    "Grab the gold text on playing cards box and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Lift the black box with smooth surface from the table and shift it.",
+    "Use the right arm to grab the gold text on playing cards box and relocate it.",
+    "Use the right arm to grab the hard black box for card deck and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Use the right arm to grab the hard black box for card deck and relocate it.",
+    "Pick up the black box with smooth surface and shift it outward.",
+    "Grab the hard black box for card deck and move it off the table.",
+    "Grab the gold text on playing cards box and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Lift the black box with smooth surface from the table and shift it.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Use the right arm to grab the hard black box for card deck and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Pick up the gold text on playing cards box and shift it outward.",
+    "Grab the black box with smooth surface and move it off the table.",
+    "Grab the gold text on playing cards box and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Lift the black box with smooth surface from the table and shift it.",
+    "Use the right arm to grab the hard black box for card deck and relocate it.",
+    "Use the right arm to grab the hard black box for card deck and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Pick up the black box with smooth surface and shift it outward.",
+    "Grab the gold text on playing cards box and move it off the table.",
+    "Grab the hard black box for card deck and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Lift the gold text on playing cards box from the table and shift it.",
+    "Use the right arm to grab the hard black box for card deck and relocate it.",
+    "Use the right arm to grab the gold text on playing cards box and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Use the right arm to grab the gold text on playing cards box and relocate it.",
+    "Pick up the gold text on playing cards box and shift it outward.",
+    "Grab the hard black box for card deck and move it off the table.",
+    "Grab the black box with smooth surface and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Lift the gold text on playing cards box from the table and shift it.",
+    "Use the right arm to grab the gold text on playing cards box and relocate it.",
+    "Use the right arm to grab the black box with smooth surface and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Use the right arm to grab the gold text on playing cards box and relocate it.",
+    "Pick up the gold text on playing cards box and shift it outward.",
+    "Grab the hard black box for card deck and move it off the table.",
+    "Grab the gold text on playing cards box and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Lift the black box with smooth surface from the table and shift it.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Use the right arm to grab the gold text on playing cards box and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Use the right arm to grab the gold text on playing cards box and relocate it.",
+    "Pick up the black box with smooth surface and shift it outward.",
+    "Grab the black box with smooth surface and move it off the table.",
+    "Grab the black box with smooth surface and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Lift the black box with smooth surface from the table and shift it.",
+    "Use the right arm to grab the gold text on playing cards box and relocate it.",
+    "Use the right arm to grab the hard black box for card deck and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Pick up the hard black box for card deck and shift it outward.",
+    "Grab the gold text on playing cards box and move it off the table.",
+    "Grab the hard black box for card deck and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Lift the gold text on playing cards box from the table and shift it.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Use the right arm to grab the black box with smooth surface and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Use the right arm to grab the black box with smooth surface and relocate it.",
+    "Pick up the hard black box for card deck and shift it outward.",
+    "Grab the hard black box for card deck and move it off the table.",
+    "Grab the gold text on playing cards box and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Pick up the hard black box for card deck and move it outward.",
+    "Lift the black box with smooth surface from the table and shift it.",
+    "Use the right arm to grab the hard black box for card deck and relocate it.",
+    "Use the right arm to grab the gold text on playing cards box and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Use the right arm to grab the hard black box for card deck and relocate it.",
+    "Pick up the black box with smooth surface and shift it outward.",
+    "Grab the gold text on playing cards box and move it off the table.",
+    "Grab the gold text on playing cards box and move it outward.",
+    "Pick up the gold text on playing cards box and move it outward.",
+    "Pick up the black box with smooth surface and move it outward.",
+    "Lift the gold text on playing cards box from the table and shift it.",
+    "Use the right arm to grab the black box with smooth surface and relocate it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/place_phone_stand/episode10001105.json b/piper_12_tasks_instructions_randomized_clean_table/place_phone_stand/episode10001105.json
new file mode 100644
index 0000000000000000000000000000000000000000..2db33bb52b546c03ad8d7d944ee0d61583eb1b0c
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/place_phone_stand/episode10001105.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the thin phone with smooth texture onto the compact adjustable phone holder.",
+    "Move the rectangular glossy black phone onto the phonestand with silver bar.",
+    "Put the rectangular glossy black phone atop the green phone rack.",
+    "Carry the sleek black phone to the phonestand with silver bar.",
+    "Take the thin metallic phone to the phonestand with smooth texture.",
+    "Lift the glass-front black phone onto the flat base phonestand.",
+    "Move the black shiny rectangle phone onto the flat base phonestand.",
+    "Put the black phone atop the small green and silver stand.",
+    "Carry the rectangular glossy black phone to the metal adjustable phone clamp.",
+    "Take the metal and glass black phone to the phonestand with green hooks.",
+    "Lift the glass-front black phone onto the metal adjustable phone clamp.",
+    "Move the sleek black phone onto the dark green holder with clamp.",
+    "Put the phone with glass front and back atop the compact phonestand.",
+    "Carry the rectangular glossy black phone to the green phone rack.",
+    "Take the multi-camera black phone to the phonestand with green hooks.",
+    "Lift the smooth black phone onto the phonestand with silver bar.",
+    "Move the metal and glass black phone onto the phonestand with smooth texture.",
+    "Put the metal and glass black phone atop the compact adjustable phone holder.",
+    "Carry the glass-front black phone to the phonestand with silver bar.",
+    "Take the glass-front black phone to the small green and silver stand.",
+    "Lift the phone with glass front and back onto the flat base phonestand.",
+    "Move the black phone onto the compact phonestand.",
+    "Put the rectangular glossy black phone atop the green phone rack.",
+    "Carry the multi-camera black phone to the green phone rack.",
+    "Take the sleek black phone to the small green and silver stand.",
+    "Lift the thin phone with smooth texture onto the phonestand with green hooks.",
+    "Move the compact rectangular phone onto the small green and silver stand.",
+    "Put the compact rectangular phone atop the green phone rack.",
+    "Carry the thin phone with smooth texture to the metal adjustable phone clamp.",
+    "Take the smooth black phone to the flat base phonestand.",
+    "Lift the black shiny rectangle phone onto the small green and silver stand.",
+    "Move the thin phone with smooth texture onto the green phone rack.",
+    "Put the black shiny rectangle phone atop the compact phonestand.",
+    "Carry the thin metallic phone to the compact phonestand.",
+    "Take the sleek black phone to the compact adjustable phone holder.",
+    "Lift the thin phone with smooth texture onto the metal adjustable phone clamp.",
+    "Move the multi-camera black phone onto the dark green holder with clamp.",
+    "Put the phone with glass front and back atop the phonestand with silver bar.",
+    "Carry the multi-camera black phone to the green phone rack.",
+    "Take the sleek black phone to the phonestand with smooth texture.",
+    "Lift the thin metallic phone onto the phonestand with smooth texture.",
+    "Move the phone with glass front and back onto the green plastic holder.",
+    "Put the multi-camera black phone atop the compact adjustable phone holder.",
+    "Carry the sleek black phone to the compact adjustable phone holder.",
+    "Take the smooth black phone to the flat base phonestand.",
+    "Lift the black shiny rectangle phone onto the flat base phonestand.",
+    "Move the compact rectangular phone onto the compact adjustable phone holder.",
+    "Put the sleek black phone atop the flat base phonestand.",
+    "Carry the smooth black phone to the phonestand with smooth texture.",
+    "Take the metal and glass black phone to the compact phonestand.",
+    "Lift the sleek black phone onto the phonestand with green hooks.",
+    "Move the compact rectangular phone onto the green phone rack.",
+    "Put the compact rectangular phone atop the compact phonestand.",
+    "Carry the multi-camera black phone to the green plastic holder.",
+    "Take the black shiny rectangle phone to the compact adjustable phone holder.",
+    "Lift the metal and glass black phone onto the compact adjustable phone holder.",
+    "Move the glass-front black phone onto the small green and silver stand.",
+    "Put the metal and glass black phone atop the phonestand with smooth texture.",
+    "Carry the metal and glass black phone to the angled green phone support.",
+    "Take the glass-front black phone to the compact phonestand.",
+    "Lift the black shiny rectangle phone onto the angled green phone support.",
+    "Move the thin metallic phone onto the flat base phonestand.",
+    "Put the smooth black phone atop the flat base phonestand.",
+    "Carry the rectangular glossy black phone to the phonestand with green hooks.",
+    "Take the black phone to the phonestand with green hooks.",
+    "Lift the rectangular glossy black phone onto the compact phonestand.",
+    "Move the glass-front black phone onto the dark green holder with clamp.",
+    "Put the metal and glass black phone atop the green plastic holder.",
+    "Carry the glass-front black phone to the green plastic holder.",
+    "Take the phone with glass front and back to the green plastic holder.",
+    "Lift the smooth black phone onto the green phone rack.",
+    "Move the black phone onto the phonestand with green hooks.",
+    "Put the black phone atop the phonestand with green hooks.",
+    "Carry the rectangular glossy black phone to the green plastic holder.",
+    "Take the rectangular glossy black phone to the phonestand with smooth texture.",
+    "Lift the thin metallic phone onto the angled green phone support.",
+    "Move the glass-front black phone onto the compact adjustable phone holder.",
+    "Put the phone with glass front and back atop the flat base phonestand.",
+    "Carry the rectangular glossy black phone to the green phone rack.",
+    "Take the phone with glass front and back to the compact adjustable phone holder.",
+    "Lift the black shiny rectangle phone onto the green phone rack.",
+    "Move the sleek black phone onto the flat base phonestand.",
+    "Put the phone with glass front and back atop the small green and silver stand.",
+    "Carry the rectangular glossy black phone to the green plastic holder.",
+    "Take the sleek black phone to the phonestand with silver bar.",
+    "Lift the black phone onto the phonestand with smooth texture.",
+    "Move the black phone onto the compact phonestand.",
+    "Put the black phone atop the phonestand with green hooks.",
+    "Carry the thin phone with smooth texture to the phonestand with green hooks.",
+    "Take the smooth black phone to the small green and silver stand.",
+    "Lift the smooth black phone onto the small green and silver stand.",
+    "Move the black shiny rectangle phone onto the phonestand with silver bar.",
+    "Put the multi-camera black phone atop the small green and silver stand.",
+    "Carry the black phone to the flat base phonestand.",
+    "Take the black phone to the compact adjustable phone holder.",
+    "Lift the sleek black phone onto the small green and silver stand.",
+    "Move the black shiny rectangle phone onto the green plastic holder.",
+    "Put the black phone atop the compact adjustable phone holder.",
+    "Carry the multi-camera black phone to the small green and silver stand.",
+    "Take the phone with glass front and back to the dark green holder with clamp."
+  ],
+  "unseen": [
+    "Set the phone with rounded edges on the dark green phonestand.",
+    "Set the palm-sized phone with glossy finish on the dark green phonestand.",
+    "Set the phone with rounded edges on the silver arm phonestand.",
+    "Set the phone with shiny black back on the adjustable phone holder.",
+    "Set the palm-sized phone with glossy finish on the silver arm phonestand.",
+    "Set the phone with shiny black back on the dark green phonestand.",
+    "Set the palm-sized phone with glossy finish on the dark green phonestand.",
+    "Set the phone with shiny black back on the dark green phonestand.",
+    "Set the palm-sized phone with glossy finish on the adjustable phone holder.",
+    "Set the palm-sized phone with glossy finish on the dark green phonestand.",
+    "Set the phone with rounded edges on the dark green phonestand.",
+    "Set the phone with rounded edges on the adjustable phone holder.",
+    "Set the phone with shiny black back on the adjustable phone holder.",
+    "Set the phone with shiny black back on the adjustable phone holder.",
+    "Set the phone with rounded edges on the adjustable phone holder.",
+    "Set the phone with rounded edges on the adjustable phone holder.",
+    "Set the phone with shiny black back on the silver arm phonestand.",
+    "Set the phone with shiny black back on the adjustable phone holder.",
+    "Set the phone with rounded edges on the dark green phonestand.",
+    "Set the phone with rounded edges on the adjustable phone holder.",
+    "Set the phone with shiny black back on the adjustable phone holder.",
+    "Set the palm-sized phone with glossy finish on the silver arm phonestand.",
+    "Set the palm-sized phone with glossy finish on the adjustable phone holder.",
+    "Set the phone with shiny black back on the silver arm phonestand.",
+    "Set the phone with rounded edges on the dark green phonestand.",
+    "Set the palm-sized phone with glossy finish on the adjustable phone holder.",
+    "Set the phone with shiny black back on the silver arm phonestand.",
+    "Set the phone with shiny black back on the silver arm phonestand.",
+    "Set the palm-sized phone with glossy finish on the adjustable phone holder.",
+    "Set the phone with shiny black back on the silver arm phonestand.",
+    "Set the phone with rounded edges on the silver arm phonestand.",
+    "Set the phone with rounded edges on the silver arm phonestand.",
+    "Set the phone with shiny black back on the silver arm phonestand.",
+    "Set the phone with shiny black back on the adjustable phone holder.",
+    "Set the phone with shiny black back on the silver arm phonestand.",
+    "Set the phone with rounded edges on the silver arm phonestand.",
+    "Set the palm-sized phone with glossy finish on the silver arm phonestand.",
+    "Set the palm-sized phone with glossy finish on the silver arm phonestand.",
+    "Set the palm-sized phone with glossy finish on the dark green phonestand.",
+    "Set the phone with rounded edges on the adjustable phone holder.",
+    "Set the palm-sized phone with glossy finish on the dark green phonestand.",
+    "Set the palm-sized phone with glossy finish on the silver arm phonestand.",
+    "Set the palm-sized phone with glossy finish on the adjustable phone holder.",
+    "Set the phone with rounded edges on the adjustable phone holder.",
+    "Set the phone with shiny black back on the silver arm phonestand.",
+    "Set the phone with rounded edges on the silver arm phonestand.",
+    "Set the palm-sized phone with glossy finish on the silver arm phonestand.",
+    "Set the palm-sized phone with glossy finish on the silver arm phonestand.",
+    "Set the phone with shiny black back on the adjustable phone holder.",
+    "Set the phone with rounded edges on the silver arm phonestand.",
+    "Set the palm-sized phone with glossy finish on the dark green phonestand.",
+    "Set the phone with shiny black back on the adjustable phone holder.",
+    "Set the phone with shiny black back on the adjustable phone holder.",
+    "Set the phone with rounded edges on the dark green phonestand.",
+    "Set the phone with shiny black back on the dark green phonestand.",
+    "Set the phone with rounded edges on the silver arm phonestand.",
+    "Set the palm-sized phone with glossy finish on the silver arm phonestand.",
+    "Set the palm-sized phone with glossy finish on the dark green phonestand.",
+    "Set the phone with shiny black back on the adjustable phone holder.",
+    "Set the palm-sized phone with glossy finish on the adjustable phone holder.",
+    "Set the palm-sized phone with glossy finish on the adjustable phone holder.",
+    "Set the phone with rounded edges on the silver arm phonestand.",
+    "Set the phone with rounded edges on the silver arm phonestand.",
+    "Set the phone with shiny black back on the adjustable phone holder.",
+    "Set the phone with rounded edges on the dark green phonestand.",
+    "Set the palm-sized phone with glossy finish on the silver arm phonestand.",
+    "Set the phone with rounded edges on the silver arm phonestand.",
+    "Set the phone with rounded edges on the adjustable phone holder.",
+    "Set the phone with shiny black back on the dark green phonestand.",
+    "Set the phone with shiny black back on the silver arm phonestand.",
+    "Set the phone with rounded edges on the adjustable phone holder.",
+    "Set the phone with shiny black back on the adjustable phone holder.",
+    "Set the phone with shiny black back on the silver arm phonestand.",
+    "Set the phone with shiny black back on the adjustable phone holder.",
+    "Set the palm-sized phone with glossy finish on the adjustable phone holder.",
+    "Set the palm-sized phone with glossy finish on the silver arm phonestand.",
+    "Set the phone with shiny black back on the silver arm phonestand.",
+    "Set the palm-sized phone with glossy finish on the dark green phonestand.",
+    "Set the phone with rounded edges on the silver arm phonestand.",
+    "Set the palm-sized phone with glossy finish on the silver arm phonestand.",
+    "Set the phone with shiny black back on the dark green phonestand.",
+    "Set the phone with shiny black back on the silver arm phonestand.",
+    "Set the phone with shiny black back on the dark green phonestand.",
+    "Set the phone with shiny black back on the silver arm phonestand.",
+    "Set the phone with rounded edges on the adjustable phone holder.",
+    "Set the palm-sized phone with glossy finish on the dark green phonestand.",
+    "Set the phone with shiny black back on the dark green phonestand.",
+    "Set the phone with shiny black back on the dark green phonestand.",
+    "Set the phone with rounded edges on the silver arm phonestand.",
+    "Set the palm-sized phone with glossy finish on the adjustable phone holder.",
+    "Set the phone with shiny black back on the silver arm phonestand.",
+    "Set the phone with rounded edges on the silver arm phonestand.",
+    "Set the phone with shiny black back on the adjustable phone holder.",
+    "Set the phone with rounded edges on the dark green phonestand.",
+    "Set the phone with rounded edges on the adjustable phone holder.",
+    "Set the phone with rounded edges on the dark green phonestand.",
+    "Set the phone with rounded edges on the silver arm phonestand.",
+    "Set the palm-sized phone with glossy finish on the adjustable phone holder.",
+    "Set the palm-sized phone with glossy finish on the silver arm phonestand.",
+    "Set the phone with rounded edges on the adjustable phone holder."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/place_phone_stand/episode10002088.json b/piper_12_tasks_instructions_randomized_clean_table/place_phone_stand/episode10002088.json
new file mode 100644
index 0000000000000000000000000000000000000000..21ebba80e649cfa4b1c9fbe41f96b3f893a81c09
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/place_phone_stand/episode10002088.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the phone with black touchscreen to the compact phonestand.",
+    "Lift the phone with metallic body onto the green phone rack.",
+    "Move the phone with screen and side buttons onto the green plastic holder.",
+    "Put the sleek phone atop the angled green phone support.",
+    "Carry the phone with smooth back panel to the green phone rack.",
+    "Take the phone with metallic body to the small green and silver stand.",
+    "Lift the rectangular phone onto the metal adjustable phone clamp.",
+    "Move the compact phone with flat design onto the phonestand with green hooks.",
+    "Put the phone with screen and side buttons atop the metal adjustable phone clamp.",
+    "Carry the phone with smooth back panel to the small green and silver stand.",
+    "Take the silver phone with black screen to the phonestand with green hooks.",
+    "Lift the phone with metallic body onto the phonestand with green hooks.",
+    "Move the rectangular phone onto the angled green phone support.",
+    "Put the phone with black touchscreen atop the small green and silver stand.",
+    "Carry the compact phone with flat design to the metal adjustable phone clamp.",
+    "Take the phone with metallic body to the phonestand with green hooks.",
+    "Lift the phone with screen and side buttons onto the dark green holder with clamp.",
+    "Move the silver phone with black screen onto the metal adjustable phone clamp.",
+    "Put the metallic phone with glass screen front atop the phonestand with smooth texture.",
+    "Carry the rectangular phone to the dark green holder with clamp.",
+    "Take the rectangular phone to the angled green phone support.",
+    "Lift the sleek phone onto the compact adjustable phone holder.",
+    "Move the phone with black touchscreen onto the compact adjustable phone holder.",
+    "Put the metallic phone with glass screen front atop the flat base phonestand.",
+    "Carry the palm-sized phone to the green plastic holder.",
+    "Take the sleek phone to the green phone rack.",
+    "Lift the phone with smooth back panel onto the compact adjustable phone holder.",
+    "Move the sleek phone onto the phonestand with smooth texture.",
+    "Put the compact phone with flat design atop the green plastic holder.",
+    "Carry the silver phone to the phonestand with green hooks.",
+    "Take the sleek phone to the compact phonestand.",
+    "Lift the phone with black touchscreen onto the green phone rack.",
+    "Move the silver phone onto the phonestand with silver bar.",
+    "Put the sleek phone atop the compact adjustable phone holder.",
+    "Carry the compact phone with flat design to the green plastic holder.",
+    "Take the silver phone to the phonestand with silver bar.",
+    "Lift the phone with smooth back panel onto the dark green holder with clamp.",
+    "Move the phone with smooth glass front onto the metal adjustable phone clamp.",
+    "Put the silver phone with black screen atop the phonestand with silver bar.",
+    "Carry the rectangular phone to the metal adjustable phone clamp.",
+    "Take the metallic phone with glass screen front to the green phone rack.",
+    "Lift the phone with smooth glass front onto the flat base phonestand.",
+    "Move the silver phone onto the compact phonestand.",
+    "Put the compact phone with flat design atop the compact phonestand.",
+    "Carry the rectangular phone to the green phone rack.",
+    "Take the phone with black touchscreen to the green plastic holder.",
+    "Lift the compact phone with flat design onto the dark green holder with clamp.",
+    "Move the phone with smooth glass front onto the compact adjustable phone holder.",
+    "Put the phone with smooth glass front atop the phonestand with silver bar.",
+    "Carry the compact phone with flat design to the green plastic holder.",
+    "Take the silver phone with black screen to the green phone rack.",
+    "Lift the silver phone onto the phonestand with smooth texture.",
+    "Move the phone with smooth back panel onto the metal adjustable phone clamp.",
+    "Put the silver phone with black screen atop the flat base phonestand.",
+    "Carry the phone with metallic body to the compact adjustable phone holder.",
+    "Take the phone with smooth back panel to the dark green holder with clamp.",
+    "Lift the palm-sized phone onto the compact adjustable phone holder.",
+    "Move the phone with metallic body onto the flat base phonestand.",
+    "Put the phone with black touchscreen atop the small green and silver stand.",
+    "Carry the phone with black touchscreen to the compact adjustable phone holder.",
+    "Take the phone with smooth glass front to the compact adjustable phone holder.",
+    "Lift the metallic phone with glass screen front onto the dark green holder with clamp.",
+    "Move the silver phone with black screen onto the phonestand with smooth texture.",
+    "Put the compact phone with flat design atop the phonestand with smooth texture.",
+    "Carry the phone with metallic body to the dark green holder with clamp.",
+    "Take the phone with screen and side buttons to the metal adjustable phone clamp.",
+    "Lift the silver phone with black screen onto the compact adjustable phone holder.",
+    "Move the phone with smooth glass front onto the dark green holder with clamp.",
+    "Put the phone with metallic body atop the small green and silver stand.",
+    "Carry the rectangular phone to the angled green phone support.",
+    "Take the silver phone to the angled green phone support.",
+    "Lift the phone with smooth glass front onto the green plastic holder.",
+    "Move the rectangular phone onto the compact adjustable phone holder.",
+    "Put the phone with smooth glass front atop the phonestand with silver bar.",
+    "Carry the metallic phone with glass screen front to the compact phonestand.",
+    "Take the silver phone to the metal adjustable phone clamp.",
+    "Lift the rectangular phone onto the compact adjustable phone holder.",
+    "Move the silver phone onto the compact adjustable phone holder.",
+    "Put the phone with smooth glass front atop the small green and silver stand.",
+    "Carry the phone with smooth back panel to the small green and silver stand.",
+    "Take the phone with black touchscreen to the flat base phonestand.",
+    "Lift the silver phone onto the angled green phone support.",
+    "Move the silver phone with black screen onto the phonestand with silver bar.",
+    "Put the silver phone with black screen atop the green plastic holder.",
+    "Carry the compact phone with flat design to the metal adjustable phone clamp.",
+    "Take the phone with smooth back panel to the phonestand with smooth texture.",
+    "Lift the sleek phone onto the phonestand with smooth texture.",
+    "Move the phone with black touchscreen onto the angled green phone support.",
+    "Put the phone with metallic body atop the green phone rack.",
+    "Carry the phone with black touchscreen to the green phone rack.",
+    "Take the phone with smooth back panel to the green phone rack.",
+    "Lift the silver phone with black screen onto the flat base phonestand.",
+    "Move the silver phone onto the phonestand with green hooks.",
+    "Put the phone with smooth glass front atop the flat base phonestand.",
+    "Carry the phone with metallic body to the compact phonestand.",
+    "Take the phone with screen and side buttons to the compact phonestand.",
+    "Lift the silver phone onto the phonestand with smooth texture.",
+    "Move the phone with smooth glass front onto the angled green phone support.",
+    "Put the phone with smooth back panel atop the green plastic holder.",
+    "Carry the sleek phone to the small green and silver stand."
+  ],
+  "unseen": [
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the modern phone on the silver arm phonestand.",
+    "Set the modern phone on the silver arm phonestand.",
+    "Set the handheld phone with silver frame on the silver arm phonestand.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the modern phone on the silver arm phonestand.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the handheld phone with silver frame on the adjustable phone holder.",
+    "Set the modern phone on the silver arm phonestand.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the handheld phone with silver frame on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the adjustable phone holder.",
+    "Set the modern phone on the silver arm phonestand.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the handheld phone with silver frame on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the silver arm phonestand.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the handheld phone with silver frame on the adjustable phone holder.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the modern phone on the silver arm phonestand.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the modern phone on the silver arm phonestand.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the silver arm phonestand.",
+    "Set the modern phone on the silver arm phonestand.",
+    "Set the handheld phone with silver frame on the adjustable phone holder.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the modern phone on the silver arm phonestand.",
+    "Set the modern phone on the silver arm phonestand.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the modern phone on the silver arm phonestand.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the modern phone on the silver arm phonestand.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the handheld phone with silver frame on the silver arm phonestand.",
+    "Set the handheld phone with silver frame on the silver arm phonestand.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the silver arm phonestand.",
+    "Set the handheld phone with silver frame on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the modern phone on the silver arm phonestand.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the modern phone on the silver arm phonestand.",
+    "Set the modern phone on the silver arm phonestand.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the silver arm phonestand.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the silver arm phonestand.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the modern phone on the silver arm phonestand.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the handheld phone with silver frame on the silver arm phonestand.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the modern phone on the silver arm phonestand.",
+    "Set the handheld phone with silver frame on the silver arm phonestand.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the modern phone on the silver arm phonestand.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the modern phone on the adjustable phone holder."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/place_phone_stand/episode10002177.json b/piper_12_tasks_instructions_randomized_clean_table/place_phone_stand/episode10002177.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6a824d828a906cdbadcb9f1191e03853f88af1a
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/place_phone_stand/episode10002177.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Put the phone with screen and side buttons atop the compact adjustable phone holder.",
+    "Carry the metallic phone with glass screen front to the phonestand with silver bar.",
+    "Move the phone with metallic body onto the metal adjustable phone clamp.",
+    "Take the phone with smooth back panel to the flat base phonestand.",
+    "Lift the sleek phone onto the flat base phonestand.",
+    "Put the compact phone with flat design atop the flat base phonestand.",
+    "Carry the palm-sized phone to the phonestand with silver bar.",
+    "Move the phone with screen and side buttons onto the flat base phonestand.",
+    "Take the palm-sized phone to the flat base phonestand.",
+    "Lift the phone with black touchscreen onto the green phone rack.",
+    "Put the phone with screen and side buttons atop the phonestand with silver bar.",
+    "Carry the metallic phone with glass screen front to the phonestand with smooth texture.",
+    "Move the silver phone onto the phonestand with green hooks.",
+    "Take the palm-sized phone to the phonestand with green hooks.",
+    "Lift the phone with smooth glass front onto the phonestand with smooth texture.",
+    "Put the palm-sized phone atop the angled green phone support.",
+    "Carry the sleek phone to the metal adjustable phone clamp.",
+    "Move the silver phone onto the small green and silver stand.",
+    "Take the rectangular phone to the small green and silver stand.",
+    "Lift the phone with smooth back panel onto the phonestand with smooth texture.",
+    "Put the phone with black touchscreen atop the compact phonestand.",
+    "Carry the phone with smooth glass front to the metal adjustable phone clamp.",
+    "Move the phone with smooth back panel onto the dark green holder with clamp.",
+    "Take the sleek phone to the compact adjustable phone holder.",
+    "Lift the phone with screen and side buttons onto the phonestand with smooth texture.",
+    "Put the phone with metallic body atop the phonestand with silver bar.",
+    "Carry the sleek phone to the small green and silver stand.",
+    "Move the phone with smooth back panel onto the green plastic holder.",
+    "Take the phone with smooth glass front to the green phone rack.",
+    "Lift the phone with screen and side buttons onto the compact phonestand.",
+    "Put the silver phone atop the small green and silver stand.",
+    "Carry the phone with black touchscreen to the compact adjustable phone holder.",
+    "Move the silver phone with black screen onto the angled green phone support.",
+    "Take the metallic phone with glass screen front to the green phone rack.",
+    "Lift the silver phone with black screen onto the phonestand with green hooks.",
+    "Put the silver phone with black screen atop the phonestand with smooth texture.",
+    "Carry the rectangular phone to the green plastic holder.",
+    "Move the metallic phone with glass screen front onto the phonestand with silver bar.",
+    "Take the metallic phone with glass screen front to the phonestand with green hooks.",
+    "Lift the silver phone onto the metal adjustable phone clamp.",
+    "Put the sleek phone atop the phonestand with smooth texture.",
+    "Carry the silver phone with black screen to the phonestand with green hooks.",
+    "Move the sleek phone onto the dark green holder with clamp.",
+    "Take the metallic phone with glass screen front to the phonestand with smooth texture.",
+    "Lift the palm-sized phone onto the compact phonestand.",
+    "Put the metallic phone with glass screen front atop the phonestand with green hooks.",
+    "Carry the rectangular phone to the dark green holder with clamp.",
+    "Move the phone with smooth glass front onto the green phone rack.",
+    "Take the phone with smooth back panel to the small green and silver stand.",
+    "Lift the phone with black touchscreen onto the green plastic holder.",
+    "Put the metallic phone with glass screen front atop the dark green holder with clamp.",
+    "Carry the rectangular phone to the compact phonestand.",
+    "Move the silver phone with black screen onto the phonestand with silver bar.",
+    "Take the metallic phone with glass screen front to the metal adjustable phone clamp.",
+    "Lift the compact phone with flat design onto the small green and silver stand.",
+    "Put the palm-sized phone atop the green phone rack.",
+    "Carry the silver phone to the small green and silver stand.",
+    "Move the compact phone with flat design onto the phonestand with green hooks.",
+    "Take the phone with smooth glass front to the flat base phonestand.",
+    "Lift the sleek phone onto the compact phonestand.",
+    "Put the phone with smooth back panel atop the metal adjustable phone clamp.",
+    "Carry the silver phone to the phonestand with silver bar.",
+    "Move the palm-sized phone onto the dark green holder with clamp.",
+    "Take the phone with screen and side buttons to the compact phonestand.",
+    "Lift the rectangular phone onto the compact adjustable phone holder.",
+    "Put the sleek phone atop the green phone rack.",
+    "Carry the metallic phone with glass screen front to the green phone rack.",
+    "Move the palm-sized phone onto the small green and silver stand.",
+    "Take the metallic phone with glass screen front to the dark green holder with clamp.",
+    "Lift the phone with smooth glass front onto the phonestand with silver bar.",
+    "Put the palm-sized phone atop the green phone rack.",
+    "Carry the compact phone with flat design to the angled green phone support.",
+    "Move the palm-sized phone onto the compact adjustable phone holder.",
+    "Take the silver phone to the phonestand with smooth texture.",
+    "Lift the sleek phone onto the phonestand with green hooks.",
+    "Put the phone with metallic body atop the flat base phonestand.",
+    "Carry the silver phone to the metal adjustable phone clamp.",
+    "Move the phone with metallic body onto the angled green phone support.",
+    "Take the metallic phone with glass screen front to the compact phonestand.",
+    "Lift the silver phone with black screen onto the angled green phone support.",
+    "Put the palm-sized phone atop the flat base phonestand.",
+    "Carry the phone with black touchscreen to the green plastic holder.",
+    "Move the compact phone with flat design onto the phonestand with green hooks.",
+    "Take the sleek phone to the compact phonestand.",
+    "Lift the palm-sized phone onto the phonestand with silver bar.",
+    "Put the phone with black touchscreen atop the compact phonestand.",
+    "Carry the silver phone with black screen to the dark green holder with clamp.",
+    "Move the silver phone with black screen onto the green plastic holder.",
+    "Take the phone with black touchscreen to the phonestand with green hooks.",
+    "Lift the compact phone with flat design onto the compact phonestand.",
+    "Put the phone with metallic body atop the green plastic holder.",
+    "Carry the phone with black touchscreen to the dark green holder with clamp.",
+    "Move the phone with metallic body onto the small green and silver stand.",
+    "Take the phone with metallic body to the phonestand with silver bar.",
+    "Lift the phone with screen and side buttons onto the phonestand with smooth texture.",
+    "Put the rectangular phone atop the metal adjustable phone clamp.",
+    "Carry the phone with smooth back panel to the angled green phone support.",
+    "Move the phone with metallic body onto the flat base phonestand.",
+    "Take the silver phone with black screen to the phonestand with green hooks.",
+    "Lift the phone with metallic body onto the small green and silver stand."
+  ],
+  "unseen": [
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the silver arm phonestand.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the handheld phone with silver frame on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the adjustable phone holder.",
+    "Set the modern phone on the silver arm phonestand.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the modern phone on the silver arm phonestand.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the handheld phone with silver frame on the silver arm phonestand.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the adjustable phone holder.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the adjustable phone holder.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the handheld phone with silver frame on the adjustable phone holder.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the modern phone on the silver arm phonestand.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the handheld phone with silver frame on the silver arm phonestand.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the handheld phone with silver frame on the adjustable phone holder.",
+    "Set the modern phone on the silver arm phonestand.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the adjustable phone holder.",
+    "Set the modern phone on the silver arm phonestand.",
+    "Set the handheld phone with silver frame on the silver arm phonestand.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the handheld phone with silver frame on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the handheld phone with silver frame on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the handheld phone with silver frame on the adjustable phone holder.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the silver arm phonestand.",
+    "Set the handheld phone with silver frame on the silver arm phonestand.",
+    "Set the handheld phone with silver frame on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the silver arm phonestand.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the modern phone on the silver arm phonestand.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the handheld phone with silver frame on the silver arm phonestand.",
+    "Set the handheld phone with silver frame on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the modern phone on the silver arm phonestand.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the handheld phone with silver frame on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the silver arm phonestand.",
+    "Set the handheld phone with silver frame on the dark green phonestand."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/place_phone_stand/episode10002307.json b/piper_12_tasks_instructions_randomized_clean_table/place_phone_stand/episode10002307.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1aa318425ebae31a00846bba19029fe93599a03
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/place_phone_stand/episode10002307.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the lightweight phone to the phonestand with green hooks.",
+    "Carry the glass-faced phone to the flat base phonestand.",
+    "Move the glass-faced phone onto the small green and silver stand.",
+    "Put the palm-sized black and white phone atop the compact adjustable phone holder.",
+    "Lift the glass-faced phone onto the phonestand with silver bar.",
+    "Take the compact phone to the green phone rack.",
+    "Carry the phone with digital display to the compact adjustable phone holder.",
+    "Move the flat phone onto the small green and silver stand.",
+    "Put the compact phone atop the green phone rack.",
+    "Lift the phone with touchscreen onto the angled green phone support.",
+    "Take the compact phone to the small green and silver stand.",
+    "Carry the phone with digital display to the flat base phonestand.",
+    "Move the phone with digital display onto the phonestand with green hooks.",
+    "Put the sleek rectangular phone atop the compact phonestand.",
+    "Lift the phone for calls and apps onto the phonestand with green hooks.",
+    "Take the phone with digital display to the phonestand with silver bar.",
+    "Carry the glass-faced phone to the dark green holder with clamp.",
+    "Move the glass-faced phone onto the angled green phone support.",
+    "Put the phone for calls and apps atop the angled green phone support.",
+    "Lift the lightweight phone onto the dark green holder with clamp.",
+    "Take the glass-faced phone to the phonestand with smooth texture.",
+    "Carry the black and white phone to the compact adjustable phone holder.",
+    "Move the lightweight phone onto the phonestand with silver bar.",
+    "Put the lightweight phone atop the phonestand with silver bar.",
+    "Lift the phone for calls and apps onto the green plastic holder.",
+    "Take the phone with buttons and screen to the phonestand with smooth texture.",
+    "Carry the flat phone to the dark green holder with clamp.",
+    "Move the phone with digital display onto the dark green holder with clamp.",
+    "Put the lightweight phone atop the green plastic holder.",
+    "Lift the flat phone onto the green plastic holder.",
+    "Take the flat phone to the phonestand with green hooks.",
+    "Carry the flat phone to the green phone rack.",
+    "Move the black and white phone onto the metal adjustable phone clamp.",
+    "Put the phone for calls and apps atop the green phone rack.",
+    "Lift the phone with buttons and screen onto the green phone rack.",
+    "Take the phone with touchscreen to the compact adjustable phone holder.",
+    "Carry the phone for calls and apps to the small green and silver stand.",
+    "Move the phone for calls and apps onto the flat base phonestand.",
+    "Put the phone with buttons and screen atop the flat base phonestand.",
+    "Lift the flat phone onto the phonestand with smooth texture.",
+    "Take the phone with buttons and screen to the phonestand with smooth texture.",
+    "Carry the compact phone to the phonestand with green hooks.",
+    "Move the flat phone onto the compact phonestand.",
+    "Put the phone with digital display atop the phonestand with smooth texture.",
+    "Lift the lightweight phone onto the metal adjustable phone clamp.",
+    "Take the lightweight phone to the flat base phonestand.",
+    "Carry the glass-faced phone to the flat base phonestand.",
+    "Move the palm-sized black and white phone onto the metal adjustable phone clamp.",
+    "Put the sleek rectangular phone atop the metal adjustable phone clamp.",
+    "Lift the compact phone onto the green plastic holder.",
+    "Take the lightweight phone to the green plastic holder.",
+    "Carry the smooth-screen phone to the phonestand with silver bar.",
+    "Move the lightweight phone onto the phonestand with silver bar.",
+    "Put the compact phone atop the phonestand with silver bar.",
+    "Lift the phone with digital display onto the compact phonestand.",
+    "Take the flat phone to the green phone rack.",
+    "Carry the black and white phone to the green phone rack.",
+    "Move the glass-faced phone onto the flat base phonestand.",
+    "Put the phone for calls and apps atop the compact adjustable phone holder.",
+    "Lift the palm-sized black and white phone onto the angled green phone support.",
+    "Take the phone with digital display to the flat base phonestand.",
+    "Carry the compact phone to the phonestand with silver bar.",
+    "Move the glass-faced phone onto the green phone rack.",
+    "Put the smooth-screen phone atop the phonestand with silver bar.",
+    "Lift the flat phone onto the metal adjustable phone clamp.",
+    "Take the sleek rectangular phone to the angled green phone support.",
+    "Carry the phone for calls and apps to the compact adjustable phone holder.",
+    "Move the sleek rectangular phone onto the dark green holder with clamp.",
+    "Put the sleek rectangular phone atop the green phone rack.",
+    "Lift the phone for calls and apps onto the green phone rack.",
+    "Take the smooth-screen phone to the small green and silver stand.",
+    "Carry the phone for calls and apps to the metal adjustable phone clamp.",
+    "Move the phone with digital display onto the angled green phone support.",
+    "Put the flat phone atop the small green and silver stand.",
+    "Lift the glass-faced phone onto the small green and silver stand.",
+    "Take the compact phone to the small green and silver stand.",
+    "Carry the flat phone to the angled green phone support.",
+    "Move the palm-sized black and white phone onto the flat base phonestand.",
+    "Put the palm-sized black and white phone atop the phonestand with green hooks.",
+    "Lift the phone with digital display onto the metal adjustable phone clamp.",
+    "Take the black and white phone to the small green and silver stand.",
+    "Carry the black and white phone to the phonestand with green hooks.",
+    "Move the compact phone onto the metal adjustable phone clamp.",
+    "Put the phone with digital display atop the angled green phone support.",
+    "Lift the phone with buttons and screen onto the phonestand with green hooks.",
+    "Take the phone with buttons and screen to the flat base phonestand.",
+    "Carry the compact phone to the phonestand with smooth texture.",
+    "Move the black and white phone onto the flat base phonestand.",
+    "Put the phone with touchscreen atop the small green and silver stand.",
+    "Lift the phone with buttons and screen onto the green phone rack.",
+    "Take the phone with touchscreen to the phonestand with smooth texture.",
+    "Carry the phone with touchscreen to the flat base phonestand.",
+    "Move the compact phone onto the dark green holder with clamp.",
+    "Put the compact phone atop the phonestand with silver bar.",
+    "Lift the compact phone onto the green plastic holder.",
+    "Take the flat phone to the green phone rack.",
+    "Carry the palm-sized black and white phone to the flat base phonestand.",
+    "Move the smooth-screen phone onto the green plastic holder.",
+    "Put the phone for calls and apps atop the compact phonestand.",
+    "Lift the compact phone onto the metal adjustable phone clamp."
+  ],
+  "unseen": [
+    "Set the rectangular phone on the dark green phonestand.",
+    "Set the white-sided phone on the adjustable phone holder.",
+    "Set the white-sided phone on the silver arm phonestand.",
+    "Set the rectangular phone on the dark green phonestand.",
+    "Set the rectangular phone on the dark green phonestand.",
+    "Set the white-sided phone on the silver arm phonestand.",
+    "Set the white-sided phone on the dark green phonestand.",
+    "Set the white-sided phone on the dark green phonestand.",
+    "Set the phone with rounded edges on the adjustable phone holder.",
+    "Set the phone with rounded edges on the adjustable phone holder.",
+    "Set the rectangular phone on the dark green phonestand.",
+    "Set the phone with rounded edges on the silver arm phonestand.",
+    "Set the phone with rounded edges on the adjustable phone holder.",
+    "Set the rectangular phone on the silver arm phonestand.",
+    "Set the phone with rounded edges on the silver arm phonestand.",
+    "Set the white-sided phone on the adjustable phone holder.",
+    "Set the phone with rounded edges on the adjustable phone holder.",
+    "Set the white-sided phone on the silver arm phonestand.",
+    "Set the phone with rounded edges on the silver arm phonestand.",
+    "Set the white-sided phone on the dark green phonestand.",
+    "Set the phone with rounded edges on the dark green phonestand.",
+    "Set the phone with rounded edges on the dark green phonestand.",
+    "Set the white-sided phone on the adjustable phone holder.",
+    "Set the white-sided phone on the adjustable phone holder.",
+    "Set the phone with rounded edges on the adjustable phone holder.",
+    "Set the phone with rounded edges on the adjustable phone holder.",
+    "Set the white-sided phone on the adjustable phone holder.",
+    "Set the rectangular phone on the dark green phonestand.",
+    "Set the rectangular phone on the dark green phonestand.",
+    "Set the white-sided phone on the dark green phonestand.",
+    "Set the white-sided phone on the dark green phonestand.",
+    "Set the rectangular phone on the silver arm phonestand.",
+    "Set the phone with rounded edges on the dark green phonestand.",
+    "Set the phone with rounded edges on the dark green phonestand.",
+    "Set the rectangular phone on the dark green phonestand.",
+    "Set the phone with rounded edges on the silver arm phonestand.",
+    "Set the white-sided phone on the dark green phonestand.",
+    "Set the rectangular phone on the dark green phonestand.",
+    "Set the white-sided phone on the dark green phonestand.",
+    "Set the rectangular phone on the dark green phonestand.",
+    "Set the rectangular phone on the silver arm phonestand.",
+    "Set the white-sided phone on the silver arm phonestand.",
+    "Set the white-sided phone on the dark green phonestand.",
+    "Set the rectangular phone on the adjustable phone holder.",
+    "Set the phone with rounded edges on the dark green phonestand.",
+    "Set the white-sided phone on the dark green phonestand.",
+    "Set the white-sided phone on the dark green phonestand.",
+    "Set the white-sided phone on the adjustable phone holder.",
+    "Set the white-sided phone on the adjustable phone holder.",
+    "Set the rectangular phone on the silver arm phonestand.",
+    "Set the phone with rounded edges on the dark green phonestand.",
+    "Set the white-sided phone on the adjustable phone holder.",
+    "Set the phone with rounded edges on the adjustable phone holder.",
+    "Set the rectangular phone on the dark green phonestand.",
+    "Set the rectangular phone on the silver arm phonestand.",
+    "Set the rectangular phone on the dark green phonestand.",
+    "Set the white-sided phone on the adjustable phone holder.",
+    "Set the phone with rounded edges on the adjustable phone holder.",
+    "Set the phone with rounded edges on the silver arm phonestand.",
+    "Set the rectangular phone on the silver arm phonestand.",
+    "Set the phone with rounded edges on the silver arm phonestand.",
+    "Set the white-sided phone on the silver arm phonestand.",
+    "Set the rectangular phone on the dark green phonestand.",
+    "Set the white-sided phone on the adjustable phone holder.",
+    "Set the rectangular phone on the adjustable phone holder.",
+    "Set the rectangular phone on the dark green phonestand.",
+    "Set the white-sided phone on the adjustable phone holder.",
+    "Set the white-sided phone on the dark green phonestand.",
+    "Set the white-sided phone on the adjustable phone holder.",
+    "Set the phone with rounded edges on the silver arm phonestand.",
+    "Set the rectangular phone on the dark green phonestand.",
+    "Set the rectangular phone on the silver arm phonestand.",
+    "Set the phone with rounded edges on the adjustable phone holder.",
+    "Set the phone with rounded edges on the dark green phonestand.",
+    "Set the white-sided phone on the dark green phonestand.",
+    "Set the white-sided phone on the silver arm phonestand.",
+    "Set the phone with rounded edges on the dark green phonestand.",
+    "Set the rectangular phone on the adjustable phone holder.",
+    "Set the white-sided phone on the adjustable phone holder.",
+    "Set the white-sided phone on the dark green phonestand.",
+    "Set the phone with rounded edges on the adjustable phone holder.",
+    "Set the phone with rounded edges on the adjustable phone holder.",
+    "Set the rectangular phone on the dark green phonestand.",
+    "Set the white-sided phone on the adjustable phone holder.",
+    "Set the rectangular phone on the adjustable phone holder.",
+    "Set the white-sided phone on the dark green phonestand.",
+    "Set the white-sided phone on the adjustable phone holder.",
+    "Set the phone with rounded edges on the dark green phonestand.",
+    "Set the rectangular phone on the silver arm phonestand.",
+    "Set the phone with rounded edges on the adjustable phone holder.",
+    "Set the phone with rounded edges on the silver arm phonestand.",
+    "Set the rectangular phone on the adjustable phone holder.",
+    "Set the phone with rounded edges on the silver arm phonestand.",
+    "Set the phone with rounded edges on the adjustable phone holder.",
+    "Set the phone with rounded edges on the adjustable phone holder.",
+    "Set the rectangular phone on the adjustable phone holder.",
+    "Set the phone with rounded edges on the silver arm phonestand.",
+    "Set the phone with rounded edges on the dark green phonestand.",
+    "Set the phone with rounded edges on the adjustable phone holder.",
+    "Set the white-sided phone on the adjustable phone holder."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/place_phone_stand/episode10003200.json b/piper_12_tasks_instructions_randomized_clean_table/place_phone_stand/episode10003200.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc308780a9a029e819868eefeb162f22d4069011
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/place_phone_stand/episode10003200.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Carry the silver phone to the phonestand with smooth texture.",
+    "Move the phone with screen and side buttons onto the compact adjustable phone holder.",
+    "Lift the phone with screen and side buttons onto the phonestand with green hooks.",
+    "Take the metallic phone with glass screen front to the compact phonestand.",
+    "Put the metallic phone with glass screen front atop the phonestand with smooth texture.",
+    "Carry the phone with metallic body to the phonestand with smooth texture.",
+    "Move the phone with screen and side buttons onto the compact adjustable phone holder.",
+    "Lift the phone with smooth glass front onto the compact adjustable phone holder.",
+    "Take the sleek phone to the angled green phone support.",
+    "Put the phone with smooth glass front atop the compact adjustable phone holder.",
+    "Carry the phone with metallic body to the green phone rack.",
+    "Move the silver phone with black screen onto the phonestand with silver bar.",
+    "Lift the compact phone with flat design onto the metal adjustable phone clamp.",
+    "Take the phone with smooth back panel to the phonestand with green hooks.",
+    "Put the compact phone with flat design atop the green phone rack.",
+    "Carry the silver phone to the metal adjustable phone clamp.",
+    "Move the phone with metallic body onto the green plastic holder.",
+    "Lift the sleek phone onto the green plastic holder.",
+    "Take the phone with black touchscreen to the green phone rack.",
+    "Put the phone with metallic body atop the flat base phonestand.",
+    "Carry the phone with screen and side buttons to the metal adjustable phone clamp.",
+    "Move the rectangular phone onto the green phone rack.",
+    "Lift the silver phone onto the green phone rack.",
+    "Take the silver phone with black screen to the phonestand with silver bar.",
+    "Put the phone with metallic body atop the phonestand with green hooks.",
+    "Carry the phone with black touchscreen to the flat base phonestand.",
+    "Move the metallic phone with glass screen front onto the green plastic holder.",
+    "Lift the sleek phone onto the angled green phone support.",
+    "Take the rectangular phone to the green plastic holder.",
+    "Put the phone with black touchscreen atop the small green and silver stand.",
+    "Carry the palm-sized phone to the green phone rack.",
+    "Move the palm-sized phone onto the flat base phonestand.",
+    "Lift the phone with screen and side buttons onto the phonestand with silver bar.",
+    "Take the palm-sized phone to the dark green holder with clamp.",
+    "Put the palm-sized phone atop the small green and silver stand.",
+    "Carry the phone with smooth glass front to the flat base phonestand.",
+    "Move the palm-sized phone onto the flat base phonestand.",
+    "Lift the phone with screen and side buttons onto the green plastic holder.",
+    "Take the metallic phone with glass screen front to the compact adjustable phone holder.",
+    "Put the rectangular phone atop the metal adjustable phone clamp.",
+    "Carry the phone with screen and side buttons to the green plastic holder.",
+    "Move the phone with metallic body onto the compact phonestand.",
+    "Lift the phone with smooth back panel onto the green plastic holder.",
+    "Take the metallic phone with glass screen front to the phonestand with green hooks.",
+    "Put the metallic phone with glass screen front atop the angled green phone support.",
+    "Carry the sleek phone to the compact adjustable phone holder.",
+    "Move the phone with smooth glass front onto the phonestand with green hooks.",
+    "Lift the phone with black touchscreen onto the compact phonestand.",
+    "Take the metallic phone with glass screen front to the green plastic holder.",
+    "Put the silver phone with black screen atop the phonestand with silver bar.",
+    "Carry the phone with metallic body to the flat base phonestand.",
+    "Move the palm-sized phone onto the small green and silver stand.",
+    "Lift the sleek phone onto the green plastic holder.",
+    "Take the sleek phone to the metal adjustable phone clamp.",
+    "Put the metallic phone with glass screen front atop the small green and silver stand.",
+    "Carry the phone with metallic body to the dark green holder with clamp.",
+    "Move the phone with metallic body onto the flat base phonestand.",
+    "Lift the palm-sized phone onto the small green and silver stand.",
+    "Take the rectangular phone to the green plastic holder.",
+    "Put the metallic phone with glass screen front atop the phonestand with smooth texture.",
+    "Carry the rectangular phone to the angled green phone support.",
+    "Move the palm-sized phone onto the green plastic holder.",
+    "Lift the rectangular phone onto the flat base phonestand.",
+    "Take the phone with metallic body to the phonestand with silver bar.",
+    "Put the phone with screen and side buttons atop the green phone rack.",
+    "Carry the phone with metallic body to the compact phonestand.",
+    "Move the phone with smooth back panel onto the metal adjustable phone clamp.",
+    "Lift the phone with smooth glass front onto the phonestand with green hooks.",
+    "Take the sleek phone to the small green and silver stand.",
+    "Put the phone with metallic body atop the metal adjustable phone clamp.",
+    "Carry the palm-sized phone to the green phone rack.",
+    "Move the compact phone with flat design onto the angled green phone support.",
+    "Lift the phone with screen and side buttons onto the green phone rack.",
+    "Take the silver phone to the compact phonestand.",
+    "Put the phone with smooth glass front atop the small green and silver stand.",
+    "Carry the silver phone to the phonestand with green hooks.",
+    "Move the phone with screen and side buttons onto the dark green holder with clamp.",
+    "Lift the phone with smooth back panel onto the metal adjustable phone clamp.",
+    "Take the palm-sized phone to the small green and silver stand.",
+    "Put the phone with screen and side buttons atop the phonestand with green hooks.",
+    "Carry the palm-sized phone to the green plastic holder.",
+    "Move the phone with screen and side buttons onto the compact phonestand.",
+    "Lift the palm-sized phone onto the metal adjustable phone clamp.",
+    "Take the silver phone to the flat base phonestand.",
+    "Put the silver phone atop the compact adjustable phone holder.",
+    "Carry the compact phone with flat design to the metal adjustable phone clamp.",
+    "Move the rectangular phone onto the green phone rack.",
+    "Lift the silver phone onto the angled green phone support.",
+    "Take the phone with metallic body to the angled green phone support.",
+    "Put the phone with metallic body atop the phonestand with smooth texture.",
+    "Carry the compact phone with flat design to the small green and silver stand.",
+    "Move the sleek phone onto the phonestand with smooth texture.",
+    "Lift the palm-sized phone onto the dark green holder with clamp.",
+    "Take the rectangular phone to the angled green phone support.",
+    "Put the sleek phone atop the compact adjustable phone holder.",
+    "Carry the phone with metallic body to the small green and silver stand.",
+    "Move the compact phone with flat design onto the green plastic holder.",
+    "Lift the sleek phone onto the compact phonestand.",
+    "Take the compact phone with flat design to the dark green holder with clamp.",
+    "Put the compact phone with flat design atop the green plastic holder."
+  ],
+  "unseen": [
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the modern phone on the silver arm phonestand.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the handheld phone with silver frame on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the handheld phone with silver frame on the silver arm phonestand.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the silver arm phonestand.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the modern phone on the silver arm phonestand.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the handheld phone with silver frame on the silver arm phonestand.",
+    "Set the modern phone on the silver arm phonestand.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the handheld phone with silver frame on the silver arm phonestand.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the handheld phone with silver frame on the silver arm phonestand.",
+    "Set the handheld phone with silver frame on the silver arm phonestand.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the handheld phone with silver frame on the silver arm phonestand.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the modern phone on the silver arm phonestand.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the handheld phone with silver frame on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the modern phone on the silver arm phonestand.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the handheld phone with silver frame on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the handheld phone with silver frame on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the handheld phone with silver frame on the adjustable phone holder.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the modern phone on the silver arm phonestand.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the silver arm phonestand.",
+    "Set the handheld phone with silver frame on the silver arm phonestand."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/place_phone_stand/episode10004256.json b/piper_12_tasks_instructions_randomized_clean_table/place_phone_stand/episode10004256.json
new file mode 100644
index 0000000000000000000000000000000000000000..88f581ab013e2163bf55182a837be13aa31c8977
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/place_phone_stand/episode10004256.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the compact phone with shiny texture onto the green phone rack.",
+    "Put the glass and metal smartphone atop the phonestand with smooth texture.",
+    "Take the rectangular phone with rounded corners to the flat base phonestand.",
+    "Carry the slim palm-sized phone to the dark green holder with clamp.",
+    "Move the phone with smooth glossy screen onto the phonestand with silver bar.",
+    "Lift the rectangular phone with rounded corners onto the phonestand with smooth texture.",
+    "Put the phone with smooth glossy screen atop the phonestand with green hooks.",
+    "Take the silver-edged phone to the compact phonestand.",
+    "Carry the rectangle-shaped communication phone to the compact adjustable phone holder.",
+    "Move the glass and metal smartphone onto the angled green phone support.",
+    "Lift the phone with polished silver border onto the green plastic holder.",
+    "Put the silver-edged phone atop the angled green phone support.",
+    "Take the slim palm-sized phone to the flat base phonestand.",
+    "Carry the sleek black-faced smartphone to the dark green holder with clamp.",
+    "Move the compact phone with shiny texture onto the small green and silver stand.",
+    "Lift the black front phone with silver sides onto the dark green holder with clamp.",
+    "Put the phone featuring glass and silver frame atop the small green and silver stand.",
+    "Take the glass and metal smartphone to the phonestand with smooth texture.",
+    "Carry the black phone to the phonestand with green hooks.",
+    "Move the phone with polished silver border onto the phonestand with silver bar.",
+    "Lift the phone with smooth glossy screen onto the small green and silver stand.",
+    "Put the silver-edged phone atop the phonestand with green hooks.",
+    "Take the phone with smooth glossy screen to the angled green phone support.",
+    "Carry the rectangle-shaped communication phone to the dark green holder with clamp.",
+    "Move the compact phone with shiny texture onto the metal adjustable phone clamp.",
+    "Lift the glass and metal smartphone onto the phonestand with silver bar.",
+    "Put the black front phone with silver sides atop the phonestand with smooth texture.",
+    "Take the silver-edged phone to the dark green holder with clamp.",
+    "Carry the slim palm-sized phone to the angled green phone support.",
+    "Move the phone with smooth glossy screen onto the green phone rack.",
+    "Lift the silver-edged phone onto the angled green phone support.",
+    "Put the rectangular phone with rounded corners atop the compact adjustable phone holder.",
+    "Take the black phone to the small green and silver stand.",
+    "Carry the sleek black-faced smartphone to the green phone rack.",
+    "Move the sleek black-faced smartphone onto the angled green phone support.",
+    "Lift the silver-edged phone onto the angled green phone support.",
+    "Put the phone with polished silver border atop the compact phonestand.",
+    "Take the silver-edged phone to the phonestand with smooth texture.",
+    "Carry the black front phone with silver sides to the flat base phonestand.",
+    "Move the glass and metal smartphone onto the phonestand with silver bar.",
+    "Lift the sleek black-faced smartphone onto the phonestand with green hooks.",
+    "Put the phone featuring glass and silver frame atop the angled green phone support.",
+    "Take the phone featuring glass and silver frame to the compact phonestand.",
+    "Carry the glass and metal smartphone to the metal adjustable phone clamp.",
+    "Move the black front phone with silver sides onto the flat base phonestand.",
+    "Lift the glass and metal smartphone onto the angled green phone support.",
+    "Put the black phone atop the compact phonestand.",
+    "Take the glass and metal smartphone to the phonestand with green hooks.",
+    "Carry the phone featuring glass and silver frame to the angled green phone support.",
+    "Move the rectangular phone with rounded corners onto the angled green phone support.",
+    "Lift the compact phone with shiny texture onto the phonestand with smooth texture.",
+    "Put the glass and metal smartphone atop the phonestand with green hooks.",
+    "Take the phone with smooth glossy screen to the phonestand with silver bar.",
+    "Carry the rectangle-shaped communication phone to the compact adjustable phone holder.",
+    "Move the slim palm-sized phone onto the compact phonestand.",
+    "Lift the sleek black-faced smartphone onto the phonestand with green hooks.",
+    "Put the rectangular phone with rounded corners atop the compact adjustable phone holder.",
+    "Take the slim palm-sized phone to the green plastic holder.",
+    "Carry the silver-edged phone to the green plastic holder.",
+    "Move the phone with smooth glossy screen onto the phonestand with silver bar.",
+    "Lift the compact phone with shiny texture onto the small green and silver stand.",
+    "Put the compact phone with shiny texture atop the metal adjustable phone clamp.",
+    "Take the rectangular phone with rounded corners to the phonestand with silver bar.",
+    "Carry the phone with smooth glossy screen to the compact adjustable phone holder.",
+    "Move the glass and metal smartphone onto the small green and silver stand.",
+    "Lift the phone featuring glass and silver frame onto the phonestand with green hooks.",
+    "Put the black phone atop the flat base phonestand.",
+    "Take the compact phone with shiny texture to the dark green holder with clamp.",
+    "Carry the compact phone with shiny texture to the flat base phonestand.",
+    "Move the rectangular phone with rounded corners onto the phonestand with green hooks.",
+    "Lift the rectangle-shaped communication phone onto the small green and silver stand.",
+    "Put the black front phone with silver sides atop the phonestand with smooth texture.",
+    "Take the phone with polished silver border to the phonestand with green hooks.",
+    "Carry the glass and metal smartphone to the compact phonestand.",
+    "Move the phone featuring glass and silver frame onto the angled green phone support.",
+    "Lift the glass and metal smartphone onto the flat base phonestand.",
+    "Put the glass and metal smartphone atop the small green and silver stand.",
+    "Take the black front phone with silver sides to the phonestand with green hooks.",
+    "Carry the glass and metal smartphone to the dark green holder with clamp.",
+    "Move the rectangle-shaped communication phone onto the phonestand with silver bar.",
+    "Lift the black front phone with silver sides onto the phonestand with silver bar.",
+    "Put the phone with smooth glossy screen atop the phonestand with silver bar.",
+    "Take the phone with smooth glossy screen to the metal adjustable phone clamp.",
+    "Carry the phone featuring glass and silver frame to the metal adjustable phone clamp.",
+    "Move the phone with smooth glossy screen onto the angled green phone support.",
+    "Lift the sleek black-faced smartphone onto the angled green phone support.",
+    "Put the rectangle-shaped communication phone atop the phonestand with smooth texture.",
+    "Take the rectangle-shaped communication phone to the small green and silver stand.",
+    "Carry the phone with smooth glossy screen to the green phone rack.",
+    "Move the phone featuring glass and silver frame onto the green phone rack.",
+    "Lift the phone with polished silver border onto the phonestand with green hooks.",
+    "Put the compact phone with shiny texture atop the phonestand with smooth texture.",
+    "Take the sleek black-faced smartphone to the small green and silver stand.",
+    "Carry the black front phone with silver sides to the phonestand with green hooks.",
+    "Move the sleek black-faced smartphone onto the small green and silver stand.",
+    "Lift the rectangular phone with rounded corners onto the compact phonestand.",
+    "Put the phone with polished silver border atop the phonestand with smooth texture.",
+    "Take the silver-edged phone to the phonestand with smooth texture.",
+    "Carry the compact phone with shiny texture to the small green and silver stand.",
+    "Move the phone with polished silver border onto the angled green phone support."
+  ],
+  "unseen": [
+    "Set the smartphone with black display on the silver arm phonestand.",
+    "Set the rectangular phone with curved edges on the adjustable phone holder.",
+    "Set the phone with flat black screen on the adjustable phone holder.",
+    "Set the phone with flat black screen on the adjustable phone holder.",
+    "Set the phone with flat black screen on the adjustable phone holder.",
+    "Set the smartphone with black display on the dark green phonestand.",
+    "Set the smartphone with black display on the silver arm phonestand.",
+    "Set the smartphone with black display on the silver arm phonestand.",
+    "Set the rectangular phone with curved edges on the silver arm phonestand.",
+    "Set the rectangular phone with curved edges on the dark green phonestand.",
+    "Set the smartphone with black display on the adjustable phone holder.",
+    "Set the phone with flat black screen on the dark green phonestand.",
+    "Set the rectangular phone with curved edges on the dark green phonestand.",
+    "Set the rectangular phone with curved edges on the silver arm phonestand.",
+    "Set the smartphone with black display on the silver arm phonestand.",
+    "Set the smartphone with black display on the adjustable phone holder.",
+    "Set the phone with flat black screen on the adjustable phone holder.",
+    "Set the phone with flat black screen on the dark green phonestand.",
+    "Set the rectangular phone with curved edges on the adjustable phone holder.",
+    "Set the phone with flat black screen on the dark green phonestand.",
+    "Set the phone with flat black screen on the dark green phonestand.",
+    "Set the smartphone with black display on the silver arm phonestand.",
+    "Set the smartphone with black display on the dark green phonestand.",
+    "Set the smartphone with black display on the silver arm phonestand.",
+    "Set the phone with flat black screen on the silver arm phonestand.",
+    "Set the smartphone with black display on the adjustable phone holder.",
+    "Set the smartphone with black display on the silver arm phonestand.",
+    "Set the phone with flat black screen on the dark green phonestand.",
+    "Set the phone with flat black screen on the dark green phonestand.",
+    "Set the smartphone with black display on the adjustable phone holder.",
+    "Set the phone with flat black screen on the adjustable phone holder.",
+    "Set the rectangular phone with curved edges on the adjustable phone holder.",
+    "Set the rectangular phone with curved edges on the adjustable phone holder.",
+    "Set the phone with flat black screen on the adjustable phone holder.",
+    "Set the phone with flat black screen on the dark green phonestand.",
+    "Set the smartphone with black display on the silver arm phonestand.",
+    "Set the phone with flat black screen on the dark green phonestand.",
+    "Set the rectangular phone with curved edges on the adjustable phone holder.",
+    "Set the smartphone with black display on the dark green phonestand.",
+    "Set the smartphone with black display on the adjustable phone holder.",
+    "Set the smartphone with black display on the dark green phonestand.",
+    "Set the rectangular phone with curved edges on the silver arm phonestand.",
+    "Set the smartphone with black display on the dark green phonestand.",
+    "Set the phone with flat black screen on the silver arm phonestand.",
+    "Set the phone with flat black screen on the silver arm phonestand.",
+    "Set the phone with flat black screen on the dark green phonestand.",
+    "Set the rectangular phone with curved edges on the silver arm phonestand.",
+    "Set the phone with flat black screen on the silver arm phonestand.",
+    "Set the smartphone with black display on the dark green phonestand.",
+    "Set the phone with flat black screen on the dark green phonestand.",
+    "Set the rectangular phone with curved edges on the adjustable phone holder.",
+    "Set the smartphone with black display on the adjustable phone holder.",
+    "Set the rectangular phone with curved edges on the silver arm phonestand.",
+    "Set the phone with flat black screen on the dark green phonestand.",
+    "Set the smartphone with black display on the silver arm phonestand.",
+    "Set the rectangular phone with curved edges on the dark green phonestand.",
+    "Set the rectangular phone with curved edges on the adjustable phone holder.",
+    "Set the phone with flat black screen on the adjustable phone holder.",
+    "Set the rectangular phone with curved edges on the adjustable phone holder.",
+    "Set the rectangular phone with curved edges on the silver arm phonestand.",
+    "Set the phone with flat black screen on the dark green phonestand.",
+    "Set the rectangular phone with curved edges on the dark green phonestand.",
+    "Set the phone with flat black screen on the silver arm phonestand.",
+    "Set the rectangular phone with curved edges on the silver arm phonestand.",
+    "Set the rectangular phone with curved edges on the dark green phonestand.",
+    "Set the rectangular phone with curved edges on the adjustable phone holder.",
+    "Set the smartphone with black display on the silver arm phonestand.",
+    "Set the rectangular phone with curved edges on the adjustable phone holder.",
+    "Set the rectangular phone with curved edges on the adjustable phone holder.",
+    "Set the rectangular phone with curved edges on the silver arm phonestand.",
+    "Set the rectangular phone with curved edges on the adjustable phone holder.",
+    "Set the smartphone with black display on the silver arm phonestand.",
+    "Set the rectangular phone with curved edges on the silver arm phonestand.",
+    "Set the smartphone with black display on the adjustable phone holder.",
+    "Set the phone with flat black screen on the adjustable phone holder.",
+    "Set the smartphone with black display on the dark green phonestand.",
+    "Set the rectangular phone with curved edges on the silver arm phonestand.",
+    "Set the phone with flat black screen on the dark green phonestand.",
+    "Set the smartphone with black display on the silver arm phonestand.",
+    "Set the phone with flat black screen on the dark green phonestand.",
+    "Set the phone with flat black screen on the silver arm phonestand.",
+    "Set the smartphone with black display on the silver arm phonestand.",
+    "Set the phone with flat black screen on the silver arm phonestand.",
+    "Set the smartphone with black display on the silver arm phonestand.",
+    "Set the smartphone with black display on the adjustable phone holder.",
+    "Set the smartphone with black display on the silver arm phonestand.",
+    "Set the smartphone with black display on the adjustable phone holder.",
+    "Set the smartphone with black display on the silver arm phonestand.",
+    "Set the rectangular phone with curved edges on the dark green phonestand.",
+    "Set the rectangular phone with curved edges on the adjustable phone holder.",
+    "Set the smartphone with black display on the adjustable phone holder.",
+    "Set the smartphone with black display on the silver arm phonestand.",
+    "Set the phone with flat black screen on the adjustable phone holder.",
+    "Set the smartphone with black display on the silver arm phonestand.",
+    "Set the rectangular phone with curved edges on the adjustable phone holder.",
+    "Set the rectangular phone with curved edges on the dark green phonestand.",
+    "Set the phone with flat black screen on the dark green phonestand.",
+    "Set the rectangular phone with curved edges on the dark green phonestand.",
+    "Set the phone with flat black screen on the dark green phonestand.",
+    "Set the smartphone with black display on the silver arm phonestand."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/place_phone_stand/episode10005339.json b/piper_12_tasks_instructions_randomized_clean_table/place_phone_stand/episode10005339.json
new file mode 100644
index 0000000000000000000000000000000000000000..12795f27144111a640195ef7d08a6ec35556c0e6
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/place_phone_stand/episode10005339.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the lightweight phone to the phonestand with slot.",
+    "Move the phone with buttons and screen onto the phonestand with curved edges.",
+    "Carry the phone with buttons and screen to the light brown phone holder.",
+    "Lift the lightweight phone onto the angled holder for phones.",
+    "Put the phone with touchscreen atop the angled holder for phones.",
+    "Take the phone with buttons and screen to the smooth brown phone holder.",
+    "Move the phone with digital display onto the curved phonestand with phone slot.",
+    "Carry the black and white phone to the phonestand with curved edges.",
+    "Lift the phone with buttons and screen onto the light brown phonestand.",
+    "Put the palm-sized black and white phone atop the small plastic phonestand.",
+    "Take the glass-faced phone to the phonestand with smooth texture.",
+    "Move the phone with touchscreen onto the light brown phonestand.",
+    "Carry the lightweight phone to the phonestand with slot.",
+    "Lift the compact phone onto the curved phonestand with phone slot.",
+    "Put the palm-sized black and white phone atop the phonestand for holding phones.",
+    "Take the phone with digital display to the phonestand with slot.",
+    "Move the sleek rectangular phone onto the phonestand for holding phones.",
+    "Carry the lightweight phone to the curved phonestand with phone slot.",
+    "Lift the phone with touchscreen onto the compact plastic phonestand.",
+    "Put the black and white phone atop the angled holder for phones.",
+    "Take the glass-faced phone to the angled holder for phones.",
+    "Move the phone with buttons and screen onto the light brown phonestand.",
+    "Carry the compact phone to the light brown phonestand.",
+    "Lift the phone with digital display onto the phonestand with slot.",
+    "Put the black and white phone atop the small plastic phonestand.",
+    "Take the phone with buttons and screen to the phone holder with cutout underneath.",
+    "Move the phone with buttons and screen onto the phonestand with smooth texture.",
+    "Carry the lightweight phone to the curved phonestand with phone slot.",
+    "Lift the glass-faced phone onto the curved phonestand with phone slot.",
+    "Put the phone for calls and apps atop the curved phonestand with phone slot.",
+    "Take the black and white phone to the curved phonestand with phone slot.",
+    "Move the flat phone onto the light brown phone holder.",
+    "Carry the smooth-screen phone to the smooth brown phone holder.",
+    "Lift the lightweight phone onto the small plastic phonestand.",
+    "Put the phone for calls and apps atop the phonestand with slot.",
+    "Take the palm-sized black and white phone to the light brown phone holder.",
+    "Move the black and white phone onto the curved phonestand with phone slot.",
+    "Carry the palm-sized black and white phone to the phonestand with smooth texture.",
+    "Lift the phone with digital display onto the compact plastic phonestand.",
+    "Put the compact phone atop the compact plastic phonestand.",
+    "Take the glass-faced phone to the curved phonestand with phone slot.",
+    "Move the phone with digital display onto the light brown phonestand.",
+    "Carry the black and white phone to the phonestand with curved edges.",
+    "Lift the black and white phone onto the angled holder for phones.",
+    "Put the smooth-screen phone atop the phonestand for holding phones.",
+    "Take the phone with buttons and screen to the phonestand for holding phones.",
+    "Move the flat phone onto the smooth brown phone holder.",
+    "Carry the phone with buttons and screen to the compact plastic phonestand.",
+    "Lift the phone with digital display onto the light brown phonestand.",
+    "Put the sleek rectangular phone atop the phonestand with curved edges.",
+    "Take the phone with buttons and screen to the phonestand with slot.",
+    "Move the flat phone onto the compact plastic phonestand.",
+    "Carry the palm-sized black and white phone to the small plastic phonestand.",
+    "Lift the compact phone onto the angled holder for phones.",
+    "Put the phone for calls and apps atop the curved phonestand with phone slot.",
+    "Take the lightweight phone to the curved phonestand with phone slot.",
+    "Move the smooth-screen phone onto the phonestand with curved edges.",
+    "Carry the black and white phone to the smooth brown phone holder.",
+    "Lift the smooth-screen phone onto the light brown phone holder.",
+    "Put the phone for calls and apps atop the compact plastic phonestand.",
+    "Take the flat phone to the light brown phonestand.",
+    "Move the smooth-screen phone onto the small plastic phonestand.",
+    "Carry the phone with touchscreen to the phonestand with slot.",
+    "Lift the flat phone onto the small plastic phonestand.",
+    "Put the sleek rectangular phone atop the compact plastic phonestand.",
+    "Take the flat phone to the phonestand for holding phones.",
+    "Move the phone with touchscreen onto the curved phonestand with phone slot.",
+    "Carry the phone with touchscreen to the phonestand with smooth texture.",
+    "Lift the black and white phone onto the phone holder with cutout underneath.",
+    "Put the black and white phone atop the phonestand with curved edges.",
+    "Take the phone with touchscreen to the phonestand with smooth texture.",
+    "Move the glass-faced phone onto the phone holder with cutout underneath.",
+    "Carry the compact phone to the phone holder with cutout underneath.",
+    "Lift the black and white phone onto the compact plastic phonestand.",
+    "Put the flat phone atop the phonestand with smooth texture.",
+    "Take the phone with buttons and screen to the light brown phonestand.",
+    "Move the phone for calls and apps onto the angled holder for phones.",
+    "Carry the black and white phone to the phonestand with curved edges.",
+    "Lift the palm-sized black and white phone onto the light brown phone holder.",
+    "Put the flat phone atop the compact plastic phonestand.",
+    "Take the glass-faced phone to the phone holder with cutout underneath.",
+    "Move the black and white phone onto the angled holder for phones.",
+    "Carry the phone for calls and apps to the smooth brown phone holder.",
+    "Lift the sleek rectangular phone onto the angled holder for phones.",
+    "Put the phone for calls and apps atop the phonestand for holding phones.",
+    "Take the compact phone to the phone holder with cutout underneath.",
+    "Move the phone with digital display onto the phonestand for holding phones.",
+    "Carry the sleek rectangular phone to the compact plastic phonestand.",
+    "Lift the flat phone onto the curved phonestand with phone slot.",
+    "Put the flat phone atop the light brown phonestand.",
+    "Take the smooth-screen phone to the phonestand with smooth texture.",
+    "Move the black and white phone onto the phonestand for holding phones.",
+    "Carry the phone with buttons and screen to the phone holder with cutout underneath.",
+    "Lift the phone with buttons and screen onto the compact plastic phonestand.",
+    "Put the phone with digital display atop the light brown phone holder.",
+    "Take the phone with buttons and screen to the smooth brown phone holder.",
+    "Move the glass-faced phone onto the phonestand for holding phones.",
+    "Carry the smooth-screen phone to the light brown phone holder.",
+    "Lift the phone with buttons and screen onto the phone holder with cutout underneath.",
+    "Put the glass-faced phone atop the phonestand for holding phones."
+  ],
+  "unseen": [
+    "Set the white-sided phone on the brown angled plastic phonestand.",
+    "Set the phone with rounded edges on the angled brown phonestand.",
+    "Set the phone with rounded edges on the brown angled plastic phonestand.",
+    "Set the phone with rounded edges on the angled brown phonestand.",
+    "Set the rectangular phone on the L-shaped smooth brown phonestand.",
+    "Set the white-sided phone on the brown angled plastic phonestand.",
+    "Set the rectangular phone on the brown angled plastic phonestand.",
+    "Set the white-sided phone on the L-shaped smooth brown phonestand.",
+    "Set the rectangular phone on the angled brown phonestand.",
+    "Set the phone with rounded edges on the angled brown phonestand.",
+    "Set the phone with rounded edges on the angled brown phonestand.",
+    "Set the phone with rounded edges on the angled brown phonestand.",
+    "Set the phone with rounded edges on the brown angled plastic phonestand.",
+    "Set the phone with rounded edges on the angled brown phonestand.",
+    "Set the rectangular phone on the brown angled plastic phonestand.",
+    "Set the rectangular phone on the brown angled plastic phonestand.",
+    "Set the white-sided phone on the angled brown phonestand.",
+    "Set the phone with rounded edges on the angled brown phonestand.",
+    "Set the white-sided phone on the L-shaped smooth brown phonestand.",
+    "Set the white-sided phone on the brown angled plastic phonestand.",
+    "Set the rectangular phone on the brown angled plastic phonestand.",
+    "Set the phone with rounded edges on the L-shaped smooth brown phonestand.",
+    "Set the phone with rounded edges on the brown angled plastic phonestand.",
+    "Set the phone with rounded edges on the brown angled plastic phonestand.",
+    "Set the white-sided phone on the angled brown phonestand.",
+    "Set the phone with rounded edges on the L-shaped smooth brown phonestand.",
+    "Set the rectangular phone on the angled brown phonestand.",
+    "Set the phone with rounded edges on the L-shaped smooth brown phonestand.",
+    "Set the white-sided phone on the brown angled plastic phonestand.",
+    "Set the white-sided phone on the angled brown phonestand.",
+    "Set the rectangular phone on the brown angled plastic phonestand.",
+    "Set the rectangular phone on the angled brown phonestand.",
+    "Set the white-sided phone on the L-shaped smooth brown phonestand.",
+    "Set the rectangular phone on the brown angled plastic phonestand.",
+    "Set the rectangular phone on the brown angled plastic phonestand.",
+    "Set the white-sided phone on the L-shaped smooth brown phonestand.",
+    "Set the phone with rounded edges on the L-shaped smooth brown phonestand.",
+    "Set the rectangular phone on the brown angled plastic phonestand.",
+    "Set the phone with rounded edges on the angled brown phonestand.",
+    "Set the rectangular phone on the angled brown phonestand.",
+    "Set the rectangular phone on the L-shaped smooth brown phonestand.",
+    "Set the rectangular phone on the angled brown phonestand.",
+    "Set the rectangular phone on the angled brown phonestand.",
+    "Set the white-sided phone on the L-shaped smooth brown phonestand.",
+    "Set the rectangular phone on the L-shaped smooth brown phonestand.",
+    "Set the rectangular phone on the L-shaped smooth brown phonestand.",
+    "Set the white-sided phone on the brown angled plastic phonestand.",
+    "Set the white-sided phone on the angled brown phonestand.",
+    "Set the phone with rounded edges on the brown angled plastic phonestand.",
+    "Set the rectangular phone on the L-shaped smooth brown phonestand.",
+    "Set the phone with rounded edges on the angled brown phonestand.",
+    "Set the rectangular phone on the L-shaped smooth brown phonestand.",
+    "Set the phone with rounded edges on the L-shaped smooth brown phonestand.",
+    "Set the white-sided phone on the brown angled plastic phonestand.",
+    "Set the phone with rounded edges on the L-shaped smooth brown phonestand.",
+    "Set the phone with rounded edges on the L-shaped smooth brown phonestand.",
+    "Set the phone with rounded edges on the L-shaped smooth brown phonestand.",
+    "Set the white-sided phone on the L-shaped smooth brown phonestand.",
+    "Set the rectangular phone on the brown angled plastic phonestand.",
+    "Set the rectangular phone on the brown angled plastic phonestand.",
+    "Set the white-sided phone on the brown angled plastic phonestand.",
+    "Set the rectangular phone on the angled brown phonestand.",
+    "Set the white-sided phone on the L-shaped smooth brown phonestand.",
+    "Set the rectangular phone on the brown angled plastic phonestand.",
+    "Set the rectangular phone on the angled brown phonestand.",
+    "Set the phone with rounded edges on the angled brown phonestand.",
+    "Set the rectangular phone on the L-shaped smooth brown phonestand.",
+    "Set the white-sided phone on the brown angled plastic phonestand.",
+    "Set the phone with rounded edges on the L-shaped smooth brown phonestand.",
+    "Set the white-sided phone on the angled brown phonestand.",
+    "Set the phone with rounded edges on the brown angled plastic phonestand.",
+    "Set the rectangular phone on the brown angled plastic phonestand.",
+    "Set the white-sided phone on the L-shaped smooth brown phonestand.",
+    "Set the phone with rounded edges on the L-shaped smooth brown phonestand.",
+    "Set the phone with rounded edges on the angled brown phonestand.",
+    "Set the white-sided phone on the angled brown phonestand.",
+    "Set the rectangular phone on the brown angled plastic phonestand.",
+    "Set the white-sided phone on the angled brown phonestand.",
+    "Set the phone with rounded edges on the brown angled plastic phonestand.",
+    "Set the phone with rounded edges on the L-shaped smooth brown phonestand.",
+    "Set the rectangular phone on the angled brown phonestand.",
+    "Set the white-sided phone on the angled brown phonestand.",
+    "Set the rectangular phone on the L-shaped smooth brown phonestand.",
+    "Set the white-sided phone on the L-shaped smooth brown phonestand.",
+    "Set the rectangular phone on the angled brown phonestand.",
+    "Set the white-sided phone on the angled brown phonestand.",
+    "Set the rectangular phone on the brown angled plastic phonestand.",
+    "Set the rectangular phone on the L-shaped smooth brown phonestand.",
+    "Set the rectangular phone on the angled brown phonestand.",
+    "Set the white-sided phone on the L-shaped smooth brown phonestand.",
+    "Set the phone with rounded edges on the L-shaped smooth brown phonestand.",
+    "Set the rectangular phone on the L-shaped smooth brown phonestand.",
+    "Set the rectangular phone on the angled brown phonestand.",
+    "Set the phone with rounded edges on the L-shaped smooth brown phonestand.",
+    "Set the phone with rounded edges on the brown angled plastic phonestand.",
+    "Set the phone with rounded edges on the brown angled plastic phonestand.",
+    "Set the phone with rounded edges on the L-shaped smooth brown phonestand.",
+    "Set the rectangular phone on the L-shaped smooth brown phonestand.",
+    "Set the rectangular phone on the brown angled plastic phonestand.",
+    "Set the rectangular phone on the L-shaped smooth brown phonestand."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/place_phone_stand/episode10006174.json b/piper_12_tasks_instructions_randomized_clean_table/place_phone_stand/episode10006174.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b93c8b6dc7a05e2f3eb58b2ea4ecbba80b1522d
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/place_phone_stand/episode10006174.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the phone with smooth back panel onto the small green and silver stand.",
+    "Move the silver phone onto the green plastic holder.",
+    "Put the sleek phone atop the green phone rack.",
+    "Take the silver phone to the compact phonestand.",
+    "Carry the compact phone with flat design to the phonestand with green hooks.",
+    "Lift the sleek phone onto the phonestand with silver bar.",
+    "Move the phone with metallic body onto the compact adjustable phone holder.",
+    "Put the metallic phone with glass screen front atop the phonestand with silver bar.",
+    "Take the phone with smooth glass front to the phonestand with smooth texture.",
+    "Carry the phone with black touchscreen to the metal adjustable phone clamp.",
+    "Lift the metallic phone with glass screen front onto the flat base phonestand.",
+    "Move the phone with screen and side buttons onto the phonestand with smooth texture.",
+    "Put the palm-sized phone atop the compact adjustable phone holder.",
+    "Take the metallic phone with glass screen front to the green plastic holder.",
+    "Carry the silver phone with black screen to the dark green holder with clamp.",
+    "Lift the sleek phone onto the compact adjustable phone holder.",
+    "Move the metallic phone with glass screen front onto the green plastic holder.",
+    "Put the phone with black touchscreen atop the green plastic holder.",
+    "Take the silver phone to the angled green phone support.",
+    "Carry the metallic phone with glass screen front to the dark green holder with clamp.",
+    "Lift the compact phone with flat design onto the flat base phonestand.",
+    "Move the silver phone onto the green plastic holder.",
+    "Put the silver phone atop the green phone rack.",
+    "Take the rectangular phone to the phonestand with silver bar.",
+    "Carry the phone with screen and side buttons to the phonestand with smooth texture.",
+    "Lift the phone with black touchscreen onto the small green and silver stand.",
+    "Move the phone with screen and side buttons onto the phonestand with green hooks.",
+    "Put the silver phone with black screen atop the phonestand with green hooks.",
+    "Take the sleek phone to the metal adjustable phone clamp.",
+    "Carry the phone with screen and side buttons to the compact phonestand.",
+    "Lift the silver phone onto the metal adjustable phone clamp.",
+    "Move the phone with screen and side buttons onto the phonestand with green hooks.",
+    "Put the phone with metallic body atop the green plastic holder.",
+    "Take the silver phone with black screen to the compact adjustable phone holder.",
+    "Carry the phone with screen and side buttons to the dark green holder with clamp.",
+    "Lift the rectangular phone onto the compact adjustable phone holder.",
+    "Move the silver phone onto the metal adjustable phone clamp.",
+    "Put the phone with smooth back panel atop the small green and silver stand.",
+    "Take the compact phone with flat design to the green phone rack.",
+    "Carry the phone with black touchscreen to the angled green phone support.",
+    "Lift the phone with metallic body onto the dark green holder with clamp.",
+    "Move the sleek phone onto the phonestand with silver bar.",
+    "Put the rectangular phone atop the green phone rack.",
+    "Take the phone with smooth glass front to the flat base phonestand.",
+    "Carry the rectangular phone to the phonestand with green hooks.",
+    "Lift the sleek phone onto the metal adjustable phone clamp.",
+    "Move the silver phone onto the green plastic holder.",
+    "Put the phone with smooth glass front atop the phonestand with silver bar.",
+    "Take the silver phone to the flat base phonestand.",
+    "Carry the phone with black touchscreen to the compact phonestand.",
+    "Lift the sleek phone onto the phonestand with green hooks.",
+    "Move the phone with smooth glass front onto the compact adjustable phone holder.",
+    "Put the silver phone atop the angled green phone support.",
+    "Take the phone with metallic body to the phonestand with green hooks.",
+    "Carry the phone with black touchscreen to the compact adjustable phone holder.",
+    "Lift the metallic phone with glass screen front onto the green phone rack.",
+    "Move the sleek phone onto the small green and silver stand.",
+    "Put the phone with screen and side buttons atop the phonestand with smooth texture.",
+    "Take the phone with smooth back panel to the compact phonestand.",
+    "Carry the palm-sized phone to the compact adjustable phone holder.",
+    "Lift the phone with black touchscreen onto the compact adjustable phone holder.",
+    "Move the silver phone with black screen onto the phonestand with green hooks.",
+    "Put the silver phone atop the compact adjustable phone holder.",
+    "Take the phone with screen and side buttons to the phonestand with green hooks.",
+    "Carry the silver phone with black screen to the phonestand with smooth texture.",
+    "Lift the silver phone with black screen onto the flat base phonestand.",
+    "Move the phone with smooth back panel onto the flat base phonestand.",
+    "Put the metallic phone with glass screen front atop the green plastic holder.",
+    "Take the phone with smooth glass front to the compact adjustable phone holder.",
+    "Carry the compact phone with flat design to the angled green phone support.",
+    "Lift the metallic phone with glass screen front onto the green phone rack.",
+    "Move the rectangular phone onto the metal adjustable phone clamp.",
+    "Put the phone with smooth glass front atop the green phone rack.",
+    "Take the sleek phone to the dark green holder with clamp.",
+    "Carry the silver phone to the green phone rack.",
+    "Lift the palm-sized phone onto the flat base phonestand.",
+    "Move the palm-sized phone onto the metal adjustable phone clamp.",
+    "Put the phone with metallic body atop the green phone rack.",
+    "Take the phone with smooth glass front to the angled green phone support.",
+    "Carry the metallic phone with glass screen front to the small green and silver stand.",
+    "Lift the palm-sized phone onto the dark green holder with clamp.",
+    "Move the metallic phone with glass screen front onto the angled green phone support.",
+    "Put the compact phone with flat design atop the dark green holder with clamp.",
+    "Take the phone with black touchscreen to the compact adjustable phone holder.",
+    "Carry the metallic phone with glass screen front to the phonestand with green hooks.",
+    "Lift the palm-sized phone onto the phonestand with silver bar.",
+    "Move the phone with smooth glass front onto the compact phonestand.",
+    "Put the phone with smooth back panel atop the compact phonestand.",
+    "Take the phone with metallic body to the phonestand with silver bar.",
+    "Carry the phone with screen and side buttons to the compact adjustable phone holder.",
+    "Lift the palm-sized phone onto the dark green holder with clamp.",
+    "Move the metallic phone with glass screen front onto the phonestand with smooth texture.",
+    "Put the phone with smooth back panel atop the angled green phone support.",
+    "Take the compact phone with flat design to the phonestand with silver bar.",
+    "Carry the phone with smooth back panel to the phonestand with silver bar.",
+    "Lift the phone with metallic body onto the compact phonestand.",
+    "Move the palm-sized phone onto the phonestand with smooth texture.",
+    "Put the phone with smooth glass front atop the flat base phonestand.",
+    "Take the compact phone with flat design to the phonestand with silver bar.",
+    "Carry the phone with smooth back panel to the compact adjustable phone holder."
+  ],
+  "unseen": [
+    "Set the handheld phone with silver frame on the silver arm phonestand.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the handheld phone with silver frame on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the modern phone on the silver arm phonestand.",
+    "Set the handheld phone with silver frame on the silver arm phonestand.",
+    "Set the handheld phone with silver frame on the silver arm phonestand.",
+    "Set the handheld phone with silver frame on the adjustable phone holder.",
+    "Set the modern phone on the silver arm phonestand.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the modern phone on the silver arm phonestand.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the handheld phone with silver frame on the silver arm phonestand.",
+    "Set the modern phone on the silver arm phonestand.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the handheld phone with silver frame on the silver arm phonestand.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the modern phone on the silver arm phonestand.",
+    "Set the modern phone on the silver arm phonestand.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the handheld phone with silver frame on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the handheld phone with silver frame on the silver arm phonestand.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the handheld phone with silver frame on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the adjustable phone holder.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the modern phone on the silver arm phonestand.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the silver arm phonestand.",
+    "Set the handheld phone with silver frame on the dark green phonestand.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the modern phone on the dark green phonestand.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the dark green phonestand.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the rectangular silver phone with rounded edges on the adjustable phone holder.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the silver arm phonestand.",
+    "Set the handheld phone with silver frame on the silver arm phonestand.",
+    "Set the modern phone on the adjustable phone holder.",
+    "Set the handheld phone with silver frame on the adjustable phone holder."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/place_phone_stand/episode10007135.json b/piper_12_tasks_instructions_randomized_clean_table/place_phone_stand/episode10007135.json
new file mode 100644
index 0000000000000000000000000000000000000000..e18af27029c7c0da9992996883eca6a29ae6efa7
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/place_phone_stand/episode10007135.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the phone with smooth glass front to the angled holder for phones.",
+    "Lift the phone with screen and side buttons onto the compact plastic phonestand.",
+    "Carry the silver phone to the angled holder for phones.",
+    "Put the compact phone with flat design atop the phonestand with curved edges.",
+    "Move the phone with smooth glass front onto the phonestand with curved edges.",
+    "Take the metallic phone with glass screen front to the light brown phone holder.",
+    "Lift the phone with smooth glass front onto the light brown phonestand.",
+    "Carry the compact phone with flat design to the angled holder for phones.",
+    "Put the rectangular phone atop the smooth brown phone holder.",
+    "Move the palm-sized phone onto the phonestand with smooth texture.",
+    "Take the silver phone with black screen to the phonestand for holding phones.",
+    "Lift the palm-sized phone onto the phonestand with curved edges.",
+    "Carry the phone with smooth glass front to the compact plastic phonestand.",
+    "Put the phone with metallic body atop the compact plastic phonestand.",
+    "Move the silver phone onto the smooth brown phone holder.",
+    "Take the silver phone to the phonestand for holding phones.",
+    "Lift the silver phone onto the phone holder with cutout underneath.",
+    "Carry the phone with smooth glass front to the phonestand with smooth texture.",
+    "Put the phone with smooth back panel atop the smooth brown phone holder.",
+    "Move the phone with screen and side buttons onto the phonestand with smooth texture.",
+    "Take the sleek phone to the phonestand for holding phones.",
+    "Lift the metallic phone with glass screen front onto the phone holder with cutout underneath.",
+    "Carry the silver phone to the light brown phone holder.",
+    "Put the palm-sized phone atop the phonestand for holding phones.",
+    "Move the phone with metallic body onto the phonestand for holding phones.",
+    "Take the phone with smooth glass front to the phonestand with slot.",
+    "Lift the palm-sized phone onto the light brown phonestand.",
+    "Carry the phone with smooth glass front to the small plastic phonestand.",
+    "Put the silver phone atop the phonestand with slot.",
+    "Move the silver phone with black screen onto the angled holder for phones.",
+    "Take the silver phone to the phonestand with curved edges.",
+    "Lift the phone with metallic body onto the curved phonestand with phone slot.",
+    "Carry the silver phone with black screen to the phone holder with cutout underneath.",
+    "Put the phone with black touchscreen atop the phonestand with curved edges.",
+    "Move the phone with screen and side buttons onto the light brown phonestand.",
+    "Take the palm-sized phone to the phonestand with slot.",
+    "Lift the sleek phone onto the light brown phone holder.",
+    "Carry the silver phone with black screen to the light brown phonestand.",
+    "Put the silver phone atop the phonestand with smooth texture.",
+    "Move the silver phone with black screen onto the curved phonestand with phone slot.",
+    "Take the phone with smooth glass front to the phone holder with cutout underneath.",
+    "Lift the compact phone with flat design onto the phonestand with slot.",
+    "Carry the metallic phone with glass screen front to the phonestand with slot.",
+    "Put the metallic phone with glass screen front atop the phonestand with curved edges.",
+    "Move the rectangular phone onto the light brown phone holder.",
+    "Take the palm-sized phone to the angled holder for phones.",
+    "Lift the silver phone onto the phonestand for holding phones.",
+    "Carry the phone with smooth glass front to the phonestand with curved edges.",
+    "Put the compact phone with flat design atop the phonestand with slot.",
+    "Move the palm-sized phone onto the phonestand for holding phones.",
+    "Take the rectangular phone to the small plastic phonestand.",
+    "Lift the silver phone with black screen onto the curved phonestand with phone slot.",
+    "Carry the phone with screen and side buttons to the phonestand for holding phones.",
+    "Put the phone with metallic body atop the compact plastic phonestand.",
+    "Move the phone with screen and side buttons onto the phonestand for holding phones.",
+    "Take the silver phone with black screen to the phonestand with slot.",
+    "Lift the compact phone with flat design onto the curved phonestand with phone slot.",
+    "Carry the phone with screen and side buttons to the angled holder for phones.",
+    "Put the palm-sized phone atop the angled holder for phones.",
+    "Move the palm-sized phone onto the smooth brown phone holder.",
+    "Take the phone with black touchscreen to the phonestand with slot.",
+    "Lift the metallic phone with glass screen front onto the angled holder for phones.",
+    "Carry the silver phone to the smooth brown phone holder.",
+    "Put the phone with smooth back panel atop the phonestand with smooth texture.",
+    "Move the sleek phone onto the compact plastic phonestand.",
+    "Take the phone with smooth glass front to the phonestand with slot.",
+    "Lift the silver phone onto the phonestand with smooth texture.",
+    "Carry the compact phone with flat design to the phonestand for holding phones.",
+    "Put the silver phone with black screen atop the phonestand with smooth texture.",
+    "Move the compact phone with flat design onto the phone holder with cutout underneath.",
+    "Take the palm-sized phone to the angled holder for phones.",
+    "Lift the silver phone with black screen onto the curved phonestand with phone slot.",
+    "Carry the rectangular phone to the curved phonestand with phone slot.",
+    "Put the phone with smooth back panel atop the small plastic phonestand.",
+    "Move the phone with black touchscreen onto the small plastic phonestand.",
+    "Take the phone with smooth glass front to the smooth brown phone holder.",
+    "Lift the phone with metallic body onto the phonestand with smooth texture.",
+    "Carry the palm-sized phone to the small plastic phonestand.",
+    "Put the metallic phone with glass screen front atop the phonestand with curved edges.",
+    "Move the rectangular phone onto the light brown phonestand.",
+    "Take the rectangular phone to the light brown phone holder.",
+    "Lift the phone with screen and side buttons onto the phonestand with slot.",
+    "Carry the silver phone with black screen to the light brown phonestand.",
+    "Put the phone with black touchscreen atop the phonestand for holding phones.",
+    "Move the sleek phone onto the phonestand for holding phones.",
+    "Take the phone with metallic body to the curved phonestand with phone slot.",
+    "Lift the silver phone onto the phonestand with slot.",
+    "Carry the compact phone with flat design to the small plastic phonestand.",
+    "Put the silver phone with black screen atop the phone holder with cutout underneath.",
+    "Move the sleek phone onto the phone holder with cutout underneath.",
+    "Take the palm-sized phone to the light brown phonestand.",
+    "Lift the phone with smooth back panel onto the phone holder with cutout underneath.",
+    "Carry the phone with screen and side buttons to the small plastic phonestand.",
+    "Put the sleek phone atop the phonestand with curved edges.",
+    "Move the phone with metallic body onto the angled holder for phones.",
+    "Take the silver phone to the curved phonestand with phone slot.",
+    "Lift the compact phone with flat design onto the compact plastic phonestand.",
+    "Carry the phone with screen and side buttons to the phonestand with slot.",
+    "Put the phone with smooth back panel atop the light brown phonestand.",
+    "Move the compact phone with flat design onto the angled holder for phones."
+  ],
+  "unseen": [
+    "Set the rectangular silver phone with rounded edges on the brown angled plastic phonestand.",
+    "Set the rectangular silver phone with rounded edges on the brown angled plastic phonestand.",
+    "Set the handheld phone with silver frame on the brown angled plastic phonestand.",
+    "Set the rectangular silver phone with rounded edges on the angled brown phonestand.",
+    "Set the rectangular silver phone with rounded edges on the L-shaped smooth brown phonestand.",
+    "Set the modern phone on the L-shaped smooth brown phonestand.",
+    "Set the rectangular silver phone with rounded edges on the L-shaped smooth brown phonestand.",
+    "Set the modern phone on the angled brown phonestand.",
+    "Set the modern phone on the angled brown phonestand.",
+    "Set the rectangular silver phone with rounded edges on the brown angled plastic phonestand.",
+    "Set the rectangular silver phone with rounded edges on the angled brown phonestand.",
+    "Set the handheld phone with silver frame on the brown angled plastic phonestand.",
+    "Set the handheld phone with silver frame on the brown angled plastic phonestand.",
+    "Set the modern phone on the brown angled plastic phonestand.",
+    "Set the modern phone on the brown angled plastic phonestand.",
+    "Set the rectangular silver phone with rounded edges on the angled brown phonestand.",
+    "Set the modern phone on the angled brown phonestand.",
+    "Set the handheld phone with silver frame on the brown angled plastic phonestand.",
+    "Set the handheld phone with silver frame on the angled brown phonestand.",
+    "Set the rectangular silver phone with rounded edges on the L-shaped smooth brown phonestand.",
+    "Set the rectangular silver phone with rounded edges on the brown angled plastic phonestand.",
+    "Set the rectangular silver phone with rounded edges on the brown angled plastic phonestand.",
+    "Set the handheld phone with silver frame on the angled brown phonestand.",
+    "Set the rectangular silver phone with rounded edges on the L-shaped smooth brown phonestand.",
+    "Set the modern phone on the angled brown phonestand.",
+    "Set the handheld phone with silver frame on the L-shaped smooth brown phonestand.",
+    "Set the modern phone on the brown angled plastic phonestand.",
+    "Set the handheld phone with silver frame on the angled brown phonestand.",
+    "Set the handheld phone with silver frame on the brown angled plastic phonestand.",
+    "Set the rectangular silver phone with rounded edges on the angled brown phonestand.",
+    "Set the handheld phone with silver frame on the angled brown phonestand.",
+    "Set the handheld phone with silver frame on the brown angled plastic phonestand.",
+    "Set the rectangular silver phone with rounded edges on the angled brown phonestand.",
+    "Set the modern phone on the angled brown phonestand.",
+    "Set the modern phone on the L-shaped smooth brown phonestand.",
+    "Set the modern phone on the angled brown phonestand.",
+    "Set the modern phone on the L-shaped smooth brown phonestand.",
+    "Set the modern phone on the brown angled plastic phonestand.",
+    "Set the rectangular silver phone with rounded edges on the L-shaped smooth brown phonestand.",
+    "Set the handheld phone with silver frame on the L-shaped smooth brown phonestand.",
+    "Set the rectangular silver phone with rounded edges on the L-shaped smooth brown phonestand.",
+    "Set the rectangular silver phone with rounded edges on the brown angled plastic phonestand.",
+    "Set the handheld phone with silver frame on the L-shaped smooth brown phonestand.",
+    "Set the handheld phone with silver frame on the angled brown phonestand.",
+    "Set the handheld phone with silver frame on the angled brown phonestand.",
+    "Set the modern phone on the L-shaped smooth brown phonestand.",
+    "Set the handheld phone with silver frame on the brown angled plastic phonestand.",
+    "Set the rectangular silver phone with rounded edges on the brown angled plastic phonestand.",
+    "Set the rectangular silver phone with rounded edges on the L-shaped smooth brown phonestand.",
+    "Set the modern phone on the brown angled plastic phonestand.",
+    "Set the modern phone on the L-shaped smooth brown phonestand.",
+    "Set the modern phone on the L-shaped smooth brown phonestand.",
+    "Set the modern phone on the L-shaped smooth brown phonestand.",
+    "Set the handheld phone with silver frame on the angled brown phonestand.",
+    "Set the handheld phone with silver frame on the angled brown phonestand.",
+    "Set the rectangular silver phone with rounded edges on the angled brown phonestand.",
+    "Set the rectangular silver phone with rounded edges on the brown angled plastic phonestand.",
+    "Set the handheld phone with silver frame on the L-shaped smooth brown phonestand.",
+    "Set the handheld phone with silver frame on the angled brown phonestand.",
+    "Set the handheld phone with silver frame on the brown angled plastic phonestand.",
+    "Set the handheld phone with silver frame on the brown angled plastic phonestand.",
+    "Set the handheld phone with silver frame on the angled brown phonestand.",
+    "Set the rectangular silver phone with rounded edges on the brown angled plastic phonestand.",
+    "Set the modern phone on the L-shaped smooth brown phonestand.",
+    "Set the modern phone on the angled brown phonestand.",
+    "Set the rectangular silver phone with rounded edges on the L-shaped smooth brown phonestand.",
+    "Set the rectangular silver phone with rounded edges on the angled brown phonestand.",
+    "Set the rectangular silver phone with rounded edges on the brown angled plastic phonestand.",
+    "Set the rectangular silver phone with rounded edges on the angled brown phonestand.",
+    "Set the handheld phone with silver frame on the brown angled plastic phonestand.",
+    "Set the handheld phone with silver frame on the L-shaped smooth brown phonestand.",
+    "Set the handheld phone with silver frame on the angled brown phonestand.",
+    "Set the rectangular silver phone with rounded edges on the brown angled plastic phonestand.",
+    "Set the modern phone on the L-shaped smooth brown phonestand.",
+    "Set the rectangular silver phone with rounded edges on the angled brown phonestand.",
+    "Set the modern phone on the brown angled plastic phonestand.",
+    "Set the modern phone on the brown angled plastic phonestand.",
+    "Set the handheld phone with silver frame on the brown angled plastic phonestand.",
+    "Set the handheld phone with silver frame on the brown angled plastic phonestand.",
+    "Set the rectangular silver phone with rounded edges on the L-shaped smooth brown phonestand.",
+    "Set the handheld phone with silver frame on the brown angled plastic phonestand.",
+    "Set the rectangular silver phone with rounded edges on the brown angled plastic phonestand.",
+    "Set the handheld phone with silver frame on the angled brown phonestand.",
+    "Set the modern phone on the brown angled plastic phonestand.",
+    "Set the modern phone on the L-shaped smooth brown phonestand.",
+    "Set the modern phone on the angled brown phonestand.",
+    "Set the rectangular silver phone with rounded edges on the angled brown phonestand.",
+    "Set the rectangular silver phone with rounded edges on the angled brown phonestand.",
+    "Set the handheld phone with silver frame on the angled brown phonestand.",
+    "Set the handheld phone with silver frame on the angled brown phonestand.",
+    "Set the handheld phone with silver frame on the L-shaped smooth brown phonestand.",
+    "Set the modern phone on the angled brown phonestand.",
+    "Set the handheld phone with silver frame on the L-shaped smooth brown phonestand.",
+    "Set the handheld phone with silver frame on the L-shaped smooth brown phonestand.",
+    "Set the rectangular silver phone with rounded edges on the brown angled plastic phonestand.",
+    "Set the modern phone on the brown angled plastic phonestand.",
+    "Set the modern phone on the angled brown phonestand.",
+    "Set the rectangular silver phone with rounded edges on the brown angled plastic phonestand.",
+    "Set the rectangular silver phone with rounded edges on the L-shaped smooth brown phonestand.",
+    "Set the rectangular silver phone with rounded edges on the L-shaped smooth brown phonestand."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/place_phone_stand/episode10007265.json b/piper_12_tasks_instructions_randomized_clean_table/place_phone_stand/episode10007265.json
new file mode 100644
index 0000000000000000000000000000000000000000..c197096f1149fcc04f381e7d1afec43ce678a700
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/place_phone_stand/episode10007265.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the phone with buttons and screen onto the compact adjustable phone holder.",
+    "Take the phone for calls and apps to the green plastic holder.",
+    "Carry the lightweight phone to the phonestand with smooth texture.",
+    "Put the phone for calls and apps atop the green plastic holder.",
+    "Move the flat phone onto the small green and silver stand.",
+    "Lift the phone for calls and apps onto the small green and silver stand.",
+    "Take the phone with digital display to the compact phonestand.",
+    "Carry the smooth-screen phone to the dark green holder with clamp.",
+    "Put the phone with buttons and screen atop the green phone rack.",
+    "Move the lightweight phone onto the metal adjustable phone clamp.",
+    "Lift the glass-faced phone onto the green plastic holder.",
+    "Take the phone with touchscreen to the compact adjustable phone holder.",
+    "Carry the compact phone to the compact adjustable phone holder.",
+    "Put the phone with buttons and screen atop the phonestand with green hooks.",
+    "Move the palm-sized black and white phone onto the compact adjustable phone holder.",
+    "Lift the palm-sized black and white phone onto the flat base phonestand.",
+    "Take the lightweight phone to the flat base phonestand.",
+    "Carry the compact phone to the green phone rack.",
+    "Put the sleek rectangular phone atop the angled green phone support.",
+    "Move the smooth-screen phone onto the compact phonestand.",
+    "Lift the phone with touchscreen onto the phonestand with smooth texture.",
+    "Take the sleek rectangular phone to the small green and silver stand.",
+    "Carry the flat phone to the dark green holder with clamp.",
+    "Put the compact phone atop the green plastic holder.",
+    "Move the phone for calls and apps onto the angled green phone support.",
+    "Lift the palm-sized black and white phone onto the flat base phonestand.",
+    "Take the phone for calls and apps to the phonestand with smooth texture.",
+    "Carry the palm-sized black and white phone to the phonestand with green hooks.",
+    "Put the lightweight phone atop the phonestand with green hooks.",
+    "Move the lightweight phone onto the flat base phonestand.",
+    "Lift the black and white phone onto the flat base phonestand.",
+    "Take the phone with digital display to the small green and silver stand.",
+    "Carry the phone with digital display to the phonestand with smooth texture.",
+    "Put the glass-faced phone atop the angled green phone support.",
+    "Move the phone for calls and apps onto the dark green holder with clamp.",
+    "Lift the glass-faced phone onto the phonestand with smooth texture.",
+    "Take the flat phone to the small green and silver stand.",
+    "Carry the lightweight phone to the phonestand with green hooks.",
+    "Put the flat phone atop the compact phonestand.",
+    "Move the phone with digital display onto the compact phonestand.",
+    "Lift the black and white phone onto the green plastic holder.",
+    "Take the black and white phone to the dark green holder with clamp.",
+    "Carry the phone with buttons and screen to the phonestand with smooth texture.",
+    "Put the sleek rectangular phone atop the angled green phone support.",
+    "Move the compact phone onto the green plastic holder.",
+    "Lift the phone with buttons and screen onto the angled green phone support.",
+    "Take the phone with digital display to the dark green holder with clamp.",
+    "Carry the flat phone to the compact phonestand.",
+    "Put the phone with touchscreen atop the dark green holder with clamp.",
+    "Move the sleek rectangular phone onto the phonestand with green hooks.",
+    "Lift the palm-sized black and white phone onto the dark green holder with clamp.",
+    "Take the phone for calls and apps to the compact adjustable phone holder.",
+    "Carry the phone with buttons and screen to the dark green holder with clamp.",
+    "Put the phone for calls and apps atop the phonestand with silver bar.",
+    "Move the black and white phone onto the small green and silver stand.",
+    "Lift the flat phone onto the green plastic holder.",
+    "Take the compact phone to the metal adjustable phone clamp.",
+    "Carry the lightweight phone to the green phone rack.",
+    "Put the sleek rectangular phone atop the green plastic holder.",
+    "Move the flat phone onto the angled green phone support.",
+    "Lift the flat phone onto the phonestand with silver bar.",
+    "Take the phone with digital display to the phonestand with green hooks.",
+    "Carry the phone with digital display to the metal adjustable phone clamp.",
+    "Put the phone for calls and apps atop the green plastic holder.",
+    "Move the flat phone onto the phonestand with green hooks.",
+    "Lift the lightweight phone onto the green plastic holder.",
+    "Take the glass-faced phone to the flat base phonestand.",
+    "Carry the flat phone to the dark green holder with clamp.",
+    "Put the glass-faced phone atop the phonestand with green hooks.",
+    "Move the glass-faced phone onto the phonestand with green hooks.",
+    "Lift the phone with buttons and screen onto the dark green holder with clamp.",
+    "Take the phone with buttons and screen to the compact phonestand.",
+    "Carry the smooth-screen phone to the flat base phonestand.",
+    "Put the phone with touchscreen atop the compact phonestand.",
+    "Move the phone with digital display onto the phonestand with silver bar.",
+    "Lift the black and white phone onto the flat base phonestand.",
+    "Take the glass-faced phone to the phonestand with smooth texture.",
+    "Carry the phone with digital display to the green plastic holder.",
+    "Put the phone with digital display atop the phonestand with smooth texture.",
+    "Move the phone for calls and apps onto the green plastic holder.",
+    "Lift the sleek rectangular phone onto the dark green holder with clamp.",
+    "Take the palm-sized black and white phone to the metal adjustable phone clamp.",
+    "Carry the compact phone to the dark green holder with clamp.",
+    "Put the smooth-screen phone atop the compact phonestand.",
+    "Move the phone with buttons and screen onto the compact adjustable phone holder.",
+    "Lift the glass-faced phone onto the small green and silver stand.",
+    "Take the lightweight phone to the dark green holder with clamp.",
+    "Carry the phone with digital display to the phonestand with green hooks.",
+    "Put the lightweight phone atop the phonestand with smooth texture.",
+    "Move the flat phone onto the green plastic holder.",
+    "Lift the smooth-screen phone onto the compact adjustable phone holder.",
+    "Take the glass-faced phone to the metal adjustable phone clamp.",
+    "Carry the lightweight phone to the phonestand with smooth texture.",
+    "Put the phone with touchscreen atop the dark green holder with clamp.",
+    "Move the phone with buttons and screen onto the angled green phone support.",
+    "Lift the glass-faced phone onto the compact adjustable phone holder.",
+    "Take the phone with touchscreen to the green plastic holder.",
+    "Carry the phone for calls and apps to the metal adjustable phone clamp.",
+    "Put the phone with buttons and screen atop the flat base phonestand.",
+    "Move the smooth-screen phone onto the flat base phonestand."
+  ],
+  "unseen": [
+    "Set the phone with rounded edges on the silver arm phonestand.",
+    "Set the white-sided phone on the silver arm phonestand.",
+    "Set the white-sided phone on the adjustable phone holder.",
+    "Set the white-sided phone on the dark green phonestand.",
+    "Set the phone with rounded edges on the dark green phonestand.",
+    "Set the phone with rounded edges on the adjustable phone holder.",
+    "Set the white-sided phone on the dark green phonestand.",
+    "Set the white-sided phone on the silver arm phonestand.",
+    "Set the white-sided phone on the adjustable phone holder.",
+    "Set the white-sided phone on the dark green phonestand.",
+    "Set the white-sided phone on the silver arm phonestand.",
+    "Set the phone with rounded edges on the silver arm phonestand.",
+    "Set the white-sided phone on the adjustable phone holder.",
+    "Set the phone with rounded edges on the silver arm phonestand.",
+    "Set the rectangular phone on the dark green phonestand.",
+    "Set the phone with rounded edges on the adjustable phone holder.",
+    "Set the phone with rounded edges on the dark green phonestand.",
+    "Set the white-sided phone on the adjustable phone holder.",
+    "Set the white-sided phone on the dark green phonestand.",
+    "Set the phone with rounded edges on the dark green phonestand.",
+    "Set the rectangular phone on the adjustable phone holder.",
+    "Set the phone with rounded edges on the dark green phonestand.",
+    "Set the white-sided phone on the silver arm phonestand.",
+    "Set the rectangular phone on the adjustable phone holder.",
+    "Set the white-sided phone on the adjustable phone holder.",
+    "Set the white-sided phone on the adjustable phone holder.",
+    "Set the rectangular phone on the dark green phonestand.",
+    "Set the rectangular phone on the adjustable phone holder.",
+    "Set the white-sided phone on the dark green phonestand.",
+    "Set the phone with rounded edges on the dark green phonestand.",
+    "Set the white-sided phone on the adjustable phone holder.",
+    "Set the rectangular phone on the silver arm phonestand.",
+    "Set the rectangular phone on the silver arm phonestand.",
+    "Set the rectangular phone on the dark green phonestand.",
+    "Set the phone with rounded edges on the dark green phonestand.",
+    "Set the white-sided phone on the adjustable phone holder.",
+    "Set the white-sided phone on the adjustable phone holder.",
+    "Set the phone with rounded edges on the dark green phonestand.",
+    "Set the white-sided phone on the silver arm phonestand.",
+    "Set the rectangular phone on the silver arm phonestand.",
+    "Set the rectangular phone on the adjustable phone holder.",
+    "Set the rectangular phone on the silver arm phonestand.",
+    "Set the rectangular phone on the silver arm phonestand.",
+    "Set the rectangular phone on the dark green phonestand.",
+    "Set the phone with rounded edges on the adjustable phone holder.",
+    "Set the rectangular phone on the adjustable phone holder.",
+    "Set the rectangular phone on the adjustable phone holder.",
+    "Set the phone with rounded edges on the adjustable phone holder.",
+    "Set the white-sided phone on the adjustable phone holder.",
+    "Set the white-sided phone on the adjustable phone holder.",
+    "Set the white-sided phone on the adjustable phone holder.",
+    "Set the phone with rounded edges on the adjustable phone holder.",
+    "Set the white-sided phone on the dark green phonestand.",
+    "Set the white-sided phone on the silver arm phonestand.",
+    "Set the white-sided phone on the silver arm phonestand.",
+    "Set the rectangular phone on the silver arm phonestand.",
+    "Set the phone with rounded edges on the dark green phonestand.",
+    "Set the rectangular phone on the dark green phonestand.",
+    "Set the rectangular phone on the dark green phonestand.",
+    "Set the white-sided phone on the dark green phonestand.",
+    "Set the white-sided phone on the silver arm phonestand.",
+    "Set the phone with rounded edges on the adjustable phone holder.",
+    "Set the phone with rounded edges on the silver arm phonestand.",
+    "Set the white-sided phone on the silver arm phonestand.",
+    "Set the phone with rounded edges on the silver arm phonestand.",
+    "Set the phone with rounded edges on the silver arm phonestand.",
+    "Set the white-sided phone on the dark green phonestand.",
+    "Set the rectangular phone on the adjustable phone holder.",
+    "Set the phone with rounded edges on the silver arm phonestand.",
+    "Set the rectangular phone on the silver arm phonestand.",
+    "Set the white-sided phone on the silver arm phonestand.",
+    "Set the phone with rounded edges on the dark green phonestand.",
+    "Set the rectangular phone on the dark green phonestand.",
+    "Set the rectangular phone on the silver arm phonestand.",
+    "Set the rectangular phone on the dark green phonestand.",
+    "Set the rectangular phone on the silver arm phonestand.",
+    "Set the rectangular phone on the adjustable phone holder.",
+    "Set the phone with rounded edges on the adjustable phone holder.",
+    "Set the phone with rounded edges on the silver arm phonestand.",
+    "Set the rectangular phone on the dark green phonestand.",
+    "Set the phone with rounded edges on the silver arm phonestand.",
+    "Set the rectangular phone on the adjustable phone holder.",
+    "Set the phone with rounded edges on the silver arm phonestand.",
+    "Set the phone with rounded edges on the adjustable phone holder.",
+    "Set the phone with rounded edges on the adjustable phone holder.",
+    "Set the rectangular phone on the silver arm phonestand.",
+    "Set the phone with rounded edges on the dark green phonestand.",
+    "Set the phone with rounded edges on the dark green phonestand.",
+    "Set the white-sided phone on the silver arm phonestand.",
+    "Set the phone with rounded edges on the dark green phonestand.",
+    "Set the rectangular phone on the adjustable phone holder.",
+    "Set the rectangular phone on the adjustable phone holder.",
+    "Set the rectangular phone on the silver arm phonestand.",
+    "Set the rectangular phone on the dark green phonestand.",
+    "Set the white-sided phone on the adjustable phone holder.",
+    "Set the rectangular phone on the adjustable phone holder.",
+    "Set the phone with rounded edges on the dark green phonestand.",
+    "Set the phone with rounded edges on the dark green phonestand.",
+    "Set the rectangular phone on the silver arm phonestand.",
+    "Set the white-sided phone on the silver arm phonestand."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/place_phone_stand/episode10008082.json b/piper_12_tasks_instructions_randomized_clean_table/place_phone_stand/episode10008082.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f5405c3ff4540642c5fa4143921fa96cd5c4d8d
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/place_phone_stand/episode10008082.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the rectangular phone with rounded corners to the phonestand with curved edges.",
+    "Put the compact phone with shiny texture atop the phonestand for holding phones.",
+    "Carry the phone featuring glass and silver frame to the phone holder with cutout underneath.",
+    "Move the phone with smooth glossy screen onto the phone holder with cutout underneath.",
+    "Lift the black front phone with silver sides onto the phonestand with smooth texture.",
+    "Take the phone with smooth glossy screen to the smooth brown phone holder.",
+    "Put the rectangular phone with rounded corners atop the compact plastic phonestand.",
+    "Carry the sleek black-faced smartphone to the light brown phone holder.",
+    "Move the glass and metal smartphone onto the smooth brown phone holder.",
+    "Lift the black phone onto the compact plastic phonestand.",
+    "Take the phone with smooth glossy screen to the compact plastic phonestand.",
+    "Put the rectangle-shaped communication phone atop the compact plastic phonestand.",
+    "Carry the phone with polished silver border to the smooth brown phone holder.",
+    "Move the black phone onto the phonestand for holding phones.",
+    "Lift the black phone onto the small plastic phonestand.",
+    "Take the black front phone with silver sides to the smooth brown phone holder.",
+    "Put the phone featuring glass and silver frame atop the compact plastic phonestand.",
+    "Carry the slim palm-sized phone to the angled holder for phones.",
+    "Move the slim palm-sized phone onto the compact plastic phonestand.",
+    "Lift the black front phone with silver sides onto the phonestand with smooth texture.",
+    "Take the phone with smooth glossy screen to the light brown phone holder.",
+    "Put the black front phone with silver sides atop the light brown phone holder.",
+    "Carry the slim palm-sized phone to the phonestand with curved edges.",
+    "Move the rectangular phone with rounded corners onto the curved phonestand with phone slot.",
+    "Lift the phone with polished silver border onto the phonestand with curved edges.",
+    "Take the glass and metal smartphone to the curved phonestand with phone slot.",
+    "Put the silver-edged phone atop the phonestand with slot.",
+    "Carry the phone featuring glass and silver frame to the curved phonestand with phone slot.",
+    "Move the compact phone with shiny texture onto the light brown phone holder.",
+    "Lift the phone with smooth glossy screen onto the small plastic phonestand.",
+    "Take the rectangle-shaped communication phone to the angled holder for phones.",
+    "Put the phone with polished silver border atop the compact plastic phonestand.",
+    "Carry the phone featuring glass and silver frame to the phonestand with curved edges.",
+    "Move the rectangular phone with rounded corners onto the compact plastic phonestand.",
+    "Lift the phone with polished silver border onto the phonestand for holding phones.",
+    "Take the phone with polished silver border to the smooth brown phone holder.",
+    "Put the phone featuring glass and silver frame atop the phonestand with curved edges.",
+    "Carry the phone with smooth glossy screen to the phonestand with smooth texture.",
+    "Move the slim palm-sized phone onto the phone holder with cutout underneath.",
+    "Lift the compact phone with shiny texture onto the small plastic phonestand.",
+    "Take the slim palm-sized phone to the small plastic phonestand.",
+    "Put the sleek black-faced smartphone atop the light brown phonestand.",
+    "Carry the rectangular phone with rounded corners to the phone holder with cutout underneath.",
+    "Move the black front phone with silver sides onto the phonestand with smooth texture.",
+    "Lift the black phone onto the phone holder with cutout underneath.",
+    "Take the silver-edged phone to the compact plastic phonestand.",
+    "Put the sleek black-faced smartphone atop the angled holder for phones.",
+    "Carry the phone with polished silver border to the light brown phonestand.",
+    "Move the black phone onto the curved phonestand with phone slot.",
+    "Lift the black front phone with silver sides onto the phonestand with slot.",
+    "Take the phone featuring glass and silver frame to the angled holder for phones.",
+    "Put the black front phone with silver sides atop the smooth brown phone holder.",
+    "Carry the sleek black-faced smartphone to the phone holder with cutout underneath.",
+    "Move the rectangle-shaped communication phone onto the light brown phonestand.",
+    "Lift the rectangle-shaped communication phone onto the phone holder with cutout underneath.",
+    "Take the black front phone with silver sides to the small plastic phonestand.",
+    "Put the phone featuring glass and silver frame atop the phonestand with slot.",
+    "Carry the slim palm-sized phone to the light brown phonestand.",
+    "Move the phone featuring glass and silver frame onto the phonestand for holding phones.",
+    "Lift the slim palm-sized phone onto the phonestand with slot.",
+    "Take the rectangular phone with rounded corners to the light brown phonestand.",
+    "Put the silver-edged phone atop the smooth brown phone holder.",
+    "Carry the black front phone with silver sides to the phonestand for holding phones.",
+    "Move the compact phone with shiny texture onto the phonestand with curved edges.",
+    "Lift the black front phone with silver sides onto the smooth brown phone holder.",
+    "Take the black phone to the light brown phonestand.",
+    "Put the black front phone with silver sides atop the phonestand with smooth texture.",
+    "Carry the black front phone with silver sides to the light brown phonestand.",
+    "Move the black phone onto the light brown phonestand.",
+    "Lift the black front phone with silver sides onto the phonestand for holding phones.",
+    "Take the sleek black-faced smartphone to the curved phonestand with phone slot.",
+    "Put the black phone atop the smooth brown phone holder.",
+    "Carry the phone with polished silver border to the phonestand with slot.",
+    "Move the compact phone with shiny texture onto the phone holder with cutout underneath.",
+    "Lift the silver-edged phone onto the light brown phone holder.",
+    "Take the black front phone with silver sides to the phonestand with smooth texture.",
+    "Put the black phone atop the small plastic phonestand.",
+    "Carry the rectangular phone with rounded corners to the phonestand with smooth texture.",
+    "Move the silver-edged phone onto the angled holder for phones.",
+    "Lift the compact phone with shiny texture onto the phonestand with curved edges.",
+    "Take the rectangular phone with rounded corners to the curved phonestand with phone slot.",
+    "Put the phone with smooth glossy screen atop the light brown phonestand.",
+    "Carry the black phone to the light brown phone holder.",
+    "Move the phone with smooth glossy screen onto the small plastic phonestand.",
+    "Lift the compact phone with shiny texture onto the compact plastic phonestand.",
+    "Take the compact phone with shiny texture to the compact plastic phonestand.",
+    "Put the black front phone with silver sides atop the light brown phone holder.",
+    "Carry the sleek black-faced smartphone to the compact plastic phonestand.",
+    "Move the rectangle-shaped communication phone onto the smooth brown phone holder.",
+    "Lift the sleek black-faced smartphone onto the curved phonestand with phone slot.",
+    "Take the black front phone with silver sides to the light brown phone holder.",
+    "Put the rectangle-shaped communication phone atop the smooth brown phone holder.",
+    "Carry the compact phone with shiny texture to the phonestand with slot.",
+    "Move the black front phone with silver sides onto the phonestand for holding phones.",
+    "Lift the black front phone with silver sides onto the phonestand for holding phones.",
+    "Take the rectangular phone with rounded corners to the phonestand for holding phones.",
+    "Put the black front phone with silver sides atop the light brown phonestand.",
+    "Carry the black phone to the phone holder with cutout underneath.",
+    "Move the sleek black-faced smartphone onto the light brown phone holder.",
+    "Lift the phone with smooth glossy screen onto the compact plastic phonestand."
+  ],
+  "unseen": [
+    "Set the phone with flat black screen on the brown angled plastic phonestand.",
+    "Set the phone with flat black screen on the angled brown phonestand.",
+    "Set the phone with flat black screen on the angled brown phonestand.",
+    "Set the phone with flat black screen on the angled brown phonestand.",
+    "Set the smartphone with black display on the angled brown phonestand.",
+    "Set the smartphone with black display on the angled brown phonestand.",
+    "Set the rectangular phone with curved edges on the L-shaped smooth brown phonestand.",
+    "Set the smartphone with black display on the brown angled plastic phonestand.",
+    "Set the rectangular phone with curved edges on the brown angled plastic phonestand.",
+    "Set the smartphone with black display on the brown angled plastic phonestand.",
+    "Set the smartphone with black display on the angled brown phonestand.",
+    "Set the smartphone with black display on the L-shaped smooth brown phonestand.",
+    "Set the smartphone with black display on the angled brown phonestand.",
+    "Set the phone with flat black screen on the brown angled plastic phonestand.",
+    "Set the smartphone with black display on the L-shaped smooth brown phonestand.",
+    "Set the smartphone with black display on the L-shaped smooth brown phonestand.",
+    "Set the rectangular phone with curved edges on the angled brown phonestand.",
+    "Set the smartphone with black display on the L-shaped smooth brown phonestand.",
+    "Set the phone with flat black screen on the L-shaped smooth brown phonestand.",
+    "Set the phone with flat black screen on the angled brown phonestand.",
+    "Set the smartphone with black display on the brown angled plastic phonestand.",
+    "Set the phone with flat black screen on the angled brown phonestand.",
+    "Set the smartphone with black display on the brown angled plastic phonestand.",
+    "Set the smartphone with black display on the angled brown phonestand.",
+    "Set the rectangular phone with curved edges on the brown angled plastic phonestand.",
+    "Set the smartphone with black display on the angled brown phonestand.",
+    "Set the phone with flat black screen on the angled brown phonestand.",
+    "Set the rectangular phone with curved edges on the angled brown phonestand.",
+    "Set the phone with flat black screen on the angled brown phonestand.",
+    "Set the phone with flat black screen on the brown angled plastic phonestand.",
+    "Set the rectangular phone with curved edges on the L-shaped smooth brown phonestand.",
+    "Set the smartphone with black display on the angled brown phonestand.",
+    "Set the rectangular phone with curved edges on the brown angled plastic phonestand.",
+    "Set the smartphone with black display on the L-shaped smooth brown phonestand.",
+    "Set the smartphone with black display on the angled brown phonestand.",
+    "Set the smartphone with black display on the angled brown phonestand.",
+    "Set the phone with flat black screen on the brown angled plastic phonestand.",
+    "Set the rectangular phone with curved edges on the angled brown phonestand.",
+    "Set the smartphone with black display on the brown angled plastic phonestand.",
+    "Set the phone with flat black screen on the angled brown phonestand.",
+    "Set the rectangular phone with curved edges on the angled brown phonestand.",
+    "Set the phone with flat black screen on the L-shaped smooth brown phonestand.",
+    "Set the phone with flat black screen on the angled brown phonestand.",
+    "Set the phone with flat black screen on the brown angled plastic phonestand.",
+    "Set the phone with flat black screen on the angled brown phonestand.",
+    "Set the rectangular phone with curved edges on the brown angled plastic phonestand.",
+    "Set the rectangular phone with curved edges on the angled brown phonestand.",
+    "Set the rectangular phone with curved edges on the angled brown phonestand.",
+    "Set the smartphone with black display on the L-shaped smooth brown phonestand.",
+    "Set the phone with flat black screen on the angled brown phonestand.",
+    "Set the phone with flat black screen on the brown angled plastic phonestand.",
+    "Set the rectangular phone with curved edges on the brown angled plastic phonestand.",
+    "Set the phone with flat black screen on the brown angled plastic phonestand.",
+    "Set the smartphone with black display on the brown angled plastic phonestand.",
+    "Set the phone with flat black screen on the brown angled plastic phonestand.",
+    "Set the phone with flat black screen on the brown angled plastic phonestand.",
+    "Set the rectangular phone with curved edges on the angled brown phonestand.",
+    "Set the rectangular phone with curved edges on the angled brown phonestand.",
+    "Set the rectangular phone with curved edges on the brown angled plastic phonestand.",
+    "Set the smartphone with black display on the angled brown phonestand.",
+    "Set the smartphone with black display on the angled brown phonestand.",
+    "Set the rectangular phone with curved edges on the L-shaped smooth brown phonestand.",
+    "Set the phone with flat black screen on the angled brown phonestand.",
+    "Set the rectangular phone with curved edges on the L-shaped smooth brown phonestand.",
+    "Set the phone with flat black screen on the L-shaped smooth brown phonestand.",
+    "Set the phone with flat black screen on the brown angled plastic phonestand.",
+    "Set the rectangular phone with curved edges on the L-shaped smooth brown phonestand.",
+    "Set the phone with flat black screen on the brown angled plastic phonestand.",
+    "Set the rectangular phone with curved edges on the L-shaped smooth brown phonestand.",
+    "Set the phone with flat black screen on the angled brown phonestand.",
+    "Set the smartphone with black display on the brown angled plastic phonestand.",
+    "Set the smartphone with black display on the brown angled plastic phonestand.",
+    "Set the rectangular phone with curved edges on the angled brown phonestand.",
+    "Set the phone with flat black screen on the L-shaped smooth brown phonestand.",
+    "Set the rectangular phone with curved edges on the L-shaped smooth brown phonestand.",
+    "Set the phone with flat black screen on the L-shaped smooth brown phonestand.",
+    "Set the smartphone with black display on the brown angled plastic phonestand.",
+    "Set the smartphone with black display on the angled brown phonestand.",
+    "Set the smartphone with black display on the brown angled plastic phonestand.",
+    "Set the smartphone with black display on the L-shaped smooth brown phonestand.",
+    "Set the rectangular phone with curved edges on the angled brown phonestand.",
+    "Set the rectangular phone with curved edges on the angled brown phonestand.",
+    "Set the rectangular phone with curved edges on the angled brown phonestand.",
+    "Set the smartphone with black display on the angled brown phonestand.",
+    "Set the phone with flat black screen on the angled brown phonestand.",
+    "Set the phone with flat black screen on the brown angled plastic phonestand.",
+    "Set the smartphone with black display on the angled brown phonestand.",
+    "Set the phone with flat black screen on the L-shaped smooth brown phonestand.",
+    "Set the rectangular phone with curved edges on the L-shaped smooth brown phonestand.",
+    "Set the phone with flat black screen on the angled brown phonestand.",
+    "Set the rectangular phone with curved edges on the angled brown phonestand.",
+    "Set the phone with flat black screen on the brown angled plastic phonestand.",
+    "Set the phone with flat black screen on the brown angled plastic phonestand.",
+    "Set the smartphone with black display on the angled brown phonestand.",
+    "Set the rectangular phone with curved edges on the L-shaped smooth brown phonestand.",
+    "Set the rectangular phone with curved edges on the L-shaped smooth brown phonestand.",
+    "Set the smartphone with black display on the L-shaped smooth brown phonestand.",
+    "Set the rectangular phone with curved edges on the angled brown phonestand.",
+    "Set the rectangular phone with curved edges on the angled brown phonestand.",
+    "Set the smartphone with black display on the brown angled plastic phonestand."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/place_phone_stand/episode10008087.json b/piper_12_tasks_instructions_randomized_clean_table/place_phone_stand/episode10008087.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae8346af9ad86815dd85b8f7056f7944b1733840
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/place_phone_stand/episode10008087.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Move the compact phone with shiny texture onto the light brown phonestand.",
+    "Take the phone featuring glass and silver frame to the light brown phonestand.",
+    "Carry the phone with smooth glossy screen to the smooth brown phone holder.",
+    "Put the phone with polished silver border atop the small plastic phonestand.",
+    "Lift the sleek black-faced smartphone onto the curved phonestand with phone slot.",
+    "Move the phone with polished silver border onto the phonestand for holding phones.",
+    "Take the phone with polished silver border to the light brown phonestand.",
+    "Carry the rectangular phone with rounded corners to the curved phonestand with phone slot.",
+    "Put the phone with polished silver border atop the compact plastic phonestand.",
+    "Lift the rectangle-shaped communication phone onto the phonestand with smooth texture.",
+    "Move the silver-edged phone onto the curved phonestand with phone slot.",
+    "Take the phone with polished silver border to the small plastic phonestand.",
+    "Carry the phone with smooth glossy screen to the phone holder with cutout underneath.",
+    "Put the silver-edged phone atop the phonestand with curved edges.",
+    "Lift the glass and metal smartphone onto the phonestand for holding phones.",
+    "Move the glass and metal smartphone onto the compact plastic phonestand.",
+    "Take the black front phone with silver sides to the phonestand with slot.",
+    "Carry the slim palm-sized phone to the light brown phone holder.",
+    "Put the black front phone with silver sides atop the light brown phone holder.",
+    "Lift the glass and metal smartphone onto the phonestand with slot.",
+    "Move the rectangular phone with rounded corners onto the light brown phone holder.",
+    "Take the phone with polished silver border to the phone holder with cutout underneath.",
+    "Carry the compact phone with shiny texture to the curved phonestand with phone slot.",
+    "Put the phone with polished silver border atop the phone holder with cutout underneath.",
+    "Lift the silver-edged phone onto the phonestand for holding phones.",
+    "Move the black front phone with silver sides onto the phone holder with cutout underneath.",
+    "Take the rectangle-shaped communication phone to the curved phonestand with phone slot.",
+    "Carry the phone featuring glass and silver frame to the phonestand for holding phones.",
+    "Put the compact phone with shiny texture atop the phonestand with slot.",
+    "Lift the phone with smooth glossy screen onto the phone holder with cutout underneath.",
+    "Move the black front phone with silver sides onto the compact plastic phonestand.",
+    "Take the rectangular phone with rounded corners to the curved phonestand with phone slot.",
+    "Carry the phone with polished silver border to the phonestand for holding phones.",
+    "Put the glass and metal smartphone atop the compact plastic phonestand.",
+    "Lift the slim palm-sized phone onto the small plastic phonestand.",
+    "Move the sleek black-faced smartphone onto the phonestand with curved edges.",
+    "Take the glass and metal smartphone to the smooth brown phone holder.",
+    "Carry the black front phone with silver sides to the small plastic phonestand.",
+    "Put the compact phone with shiny texture atop the phonestand with curved edges.",
+    "Lift the glass and metal smartphone onto the curved phonestand with phone slot.",
+    "Move the silver-edged phone onto the phone holder with cutout underneath.",
+    "Take the slim palm-sized phone to the smooth brown phone holder.",
+    "Carry the slim palm-sized phone to the smooth brown phone holder.",
+    "Put the slim palm-sized phone atop the light brown phonestand.",
+    "Lift the rectangle-shaped communication phone onto the compact plastic phonestand.",
+    "Move the phone with smooth glossy screen onto the phonestand with slot.",
+    "Take the glass and metal smartphone to the angled holder for phones.",
+    "Carry the phone featuring glass and silver frame to the compact plastic phonestand.",
+    "Put the phone with smooth glossy screen atop the phone holder with cutout underneath.",
+    "Lift the compact phone with shiny texture onto the light brown phonestand.",
+    "Move the slim palm-sized phone onto the phone holder with cutout underneath.",
+    "Take the slim palm-sized phone to the smooth brown phone holder.",
+    "Carry the phone featuring glass and silver frame to the phonestand for holding phones.",
+    "Put the rectangular phone with rounded corners atop the phonestand with slot.",
+    "Lift the silver-edged phone onto the small plastic phonestand.",
+    "Move the slim palm-sized phone onto the light brown phonestand.",
+    "Take the glass and metal smartphone to the smooth brown phone holder.",
+    "Carry the rectangular phone with rounded corners to the phonestand with curved edges.",
+    "Put the phone with smooth glossy screen atop the phonestand with slot.",
+    "Lift the glass and metal smartphone onto the light brown phone holder.",
+    "Move the rectangle-shaped communication phone onto the phone holder with cutout underneath.",
+    "Take the compact phone with shiny texture to the light brown phone holder.",
+    "Carry the phone with smooth glossy screen to the compact plastic phonestand.",
+    "Put the compact phone with shiny texture atop the curved phonestand with phone slot.",
+    "Lift the compact phone with shiny texture onto the compact plastic phonestand.",
+    "Move the black front phone with silver sides onto the angled holder for phones.",
+    "Take the compact phone with shiny texture to the phonestand with smooth texture.",
+    "Carry the rectangular phone with rounded corners to the light brown phone holder.",
+    "Put the sleek black-faced smartphone atop the phonestand with slot.",
+    "Lift the rectangular phone with rounded corners onto the compact plastic phonestand.",
+    "Move the black front phone with silver sides onto the phonestand with slot.",
+    "Take the silver-edged phone to the phonestand with curved edges.",
+    "Carry the phone featuring glass and silver frame to the angled holder for phones.",
+    "Put the phone with polished silver border atop the smooth brown phone holder.",
+    "Lift the rectangle-shaped communication phone onto the phonestand with curved edges.",
+    "Move the phone with smooth glossy screen onto the phonestand with smooth texture.",
+    "Take the phone with smooth glossy screen to the phonestand with smooth texture.",
+    "Carry the rectangular phone with rounded corners to the phonestand with curved edges.",
+    "Put the phone with polished silver border atop the smooth brown phone holder.",
+    "Lift the black phone onto the angled holder for phones.",
+    "Move the silver-edged phone onto the small plastic phonestand.",
+    "Take the black phone to the compact plastic phonestand.",
+    "Carry the phone with smooth glossy screen to the compact plastic phonestand.",
+    "Put the phone with smooth glossy screen atop the phone holder with cutout underneath.",
+    "Lift the phone with smooth glossy screen onto the curved phonestand with phone slot.",
+    "Move the rectangle-shaped communication phone onto the light brown phone holder.",
+    "Take the glass and metal smartphone to the light brown phone holder.",
+    "Carry the phone featuring glass and silver frame to the phonestand with curved edges.",
+    "Put the sleek black-faced smartphone atop the phonestand for holding phones.",
+    "Lift the glass and metal smartphone onto the phonestand with curved edges.",
+    "Move the sleek black-faced smartphone onto the phonestand for holding phones.",
+    "Take the silver-edged phone to the phonestand with slot.",
+    "Carry the black front phone with silver sides to the angled holder for phones.",
+    "Put the black front phone with silver sides atop the compact plastic phonestand.",
+    "Lift the sleek black-faced smartphone onto the phonestand for holding phones.",
+    "Move the silver-edged phone onto the light brown phonestand.",
+    "Take the phone with polished silver border to the phonestand with curved edges.",
+    "Carry the slim palm-sized phone to the phonestand with slot.",
+    "Put the glass and metal smartphone atop the phonestand with curved edges.",
+    "Lift the rectangle-shaped communication phone onto the phonestand for holding phones."
+  ],
+  "unseen": [
+    "Set the smartphone with black display on the L-shaped smooth brown phonestand.",
+    "Set the phone with flat black screen on the L-shaped smooth brown phonestand.",
+    "Set the phone with flat black screen on the L-shaped smooth brown phonestand.",
+    "Set the phone with flat black screen on the angled brown phonestand.",
+    "Set the smartphone with black display on the brown angled plastic phonestand.",
+    "Set the phone with flat black screen on the L-shaped smooth brown phonestand.",
+    "Set the phone with flat black screen on the angled brown phonestand.",
+    "Set the smartphone with black display on the brown angled plastic phonestand.",
+    "Set the phone with flat black screen on the L-shaped smooth brown phonestand.",
+    "Set the smartphone with black display on the angled brown phonestand.",
+    "Set the rectangular phone with curved edges on the L-shaped smooth brown phonestand.",
+    "Set the phone with flat black screen on the angled brown phonestand.",
+    "Set the rectangular phone with curved edges on the brown angled plastic phonestand.",
+    "Set the rectangular phone with curved edges on the brown angled plastic phonestand.",
+    "Set the rectangular phone with curved edges on the L-shaped smooth brown phonestand.",
+    "Set the rectangular phone with curved edges on the angled brown phonestand.",
+    "Set the rectangular phone with curved edges on the angled brown phonestand.",
+    "Set the rectangular phone with curved edges on the brown angled plastic phonestand.",
+    "Set the smartphone with black display on the brown angled plastic phonestand.",
+    "Set the rectangular phone with curved edges on the L-shaped smooth brown phonestand.",
+    "Set the rectangular phone with curved edges on the angled brown phonestand.",
+    "Set the rectangular phone with curved edges on the angled brown phonestand.",
+    "Set the rectangular phone with curved edges on the brown angled plastic phonestand.",
+    "Set the phone with flat black screen on the L-shaped smooth brown phonestand.",
+    "Set the smartphone with black display on the L-shaped smooth brown phonestand.",
+    "Set the rectangular phone with curved edges on the brown angled plastic phonestand.",
+    "Set the smartphone with black display on the brown angled plastic phonestand.",
+    "Set the phone with flat black screen on the L-shaped smooth brown phonestand.",
+    "Set the smartphone with black display on the angled brown phonestand.",
+    "Set the rectangular phone with curved edges on the angled brown phonestand.",
+    "Set the smartphone with black display on the L-shaped smooth brown phonestand.",
+    "Set the smartphone with black display on the brown angled plastic phonestand.",
+    "Set the phone with flat black screen on the L-shaped smooth brown phonestand.",
+    "Set the smartphone with black display on the angled brown phonestand.",
+    "Set the rectangular phone with curved edges on the angled brown phonestand.",
+    "Set the rectangular phone with curved edges on the brown angled plastic phonestand.",
+    "Set the phone with flat black screen on the brown angled plastic phonestand.",
+    "Set the smartphone with black display on the brown angled plastic phonestand.",
+    "Set the rectangular phone with curved edges on the brown angled plastic phonestand.",
+    "Set the rectangular phone with curved edges on the angled brown phonestand.",
+    "Set the smartphone with black display on the L-shaped smooth brown phonestand.",
+    "Set the rectangular phone with curved edges on the L-shaped smooth brown phonestand.",
+    "Set the phone with flat black screen on the angled brown phonestand.",
+    "Set the smartphone with black display on the angled brown phonestand.",
+    "Set the rectangular phone with curved edges on the L-shaped smooth brown phonestand.",
+    "Set the phone with flat black screen on the brown angled plastic phonestand.",
+    "Set the rectangular phone with curved edges on the angled brown phonestand.",
+    "Set the smartphone with black display on the brown angled plastic phonestand.",
+    "Set the smartphone with black display on the L-shaped smooth brown phonestand.",
+    "Set the smartphone with black display on the L-shaped smooth brown phonestand.",
+    "Set the smartphone with black display on the angled brown phonestand.",
+    "Set the smartphone with black display on the brown angled plastic phonestand.",
+    "Set the rectangular phone with curved edges on the brown angled plastic phonestand.",
+    "Set the phone with flat black screen on the L-shaped smooth brown phonestand.",
+    "Set the rectangular phone with curved edges on the L-shaped smooth brown phonestand.",
+    "Set the phone with flat black screen on the brown angled plastic phonestand.",
+    "Set the rectangular phone with curved edges on the L-shaped smooth brown phonestand.",
+    "Set the phone with flat black screen on the angled brown phonestand.",
+    "Set the rectangular phone with curved edges on the angled brown phonestand.",
+    "Set the smartphone with black display on the L-shaped smooth brown phonestand.",
+    "Set the phone with flat black screen on the brown angled plastic phonestand.",
+    "Set the rectangular phone with curved edges on the brown angled plastic phonestand.",
+    "Set the smartphone with black display on the brown angled plastic phonestand.",
+    "Set the smartphone with black display on the angled brown phonestand.",
+    "Set the rectangular phone with curved edges on the brown angled plastic phonestand.",
+    "Set the rectangular phone with curved edges on the brown angled plastic phonestand.",
+    "Set the smartphone with black display on the angled brown phonestand.",
+    "Set the phone with flat black screen on the brown angled plastic phonestand.",
+    "Set the rectangular phone with curved edges on the L-shaped smooth brown phonestand.",
+    "Set the smartphone with black display on the angled brown phonestand.",
+    "Set the rectangular phone with curved edges on the brown angled plastic phonestand.",
+    "Set the phone with flat black screen on the angled brown phonestand.",
+    "Set the smartphone with black display on the L-shaped smooth brown phonestand.",
+    "Set the rectangular phone with curved edges on the angled brown phonestand.",
+    "Set the phone with flat black screen on the L-shaped smooth brown phonestand.",
+    "Set the smartphone with black display on the brown angled plastic phonestand.",
+    "Set the phone with flat black screen on the angled brown phonestand.",
+    "Set the smartphone with black display on the brown angled plastic phonestand.",
+    "Set the rectangular phone with curved edges on the L-shaped smooth brown phonestand.",
+    "Set the rectangular phone with curved edges on the L-shaped smooth brown phonestand.",
+    "Set the rectangular phone with curved edges on the L-shaped smooth brown phonestand.",
+    "Set the smartphone with black display on the angled brown phonestand.",
+    "Set the smartphone with black display on the brown angled plastic phonestand.",
+    "Set the phone with flat black screen on the brown angled plastic phonestand.",
+    "Set the rectangular phone with curved edges on the L-shaped smooth brown phonestand.",
+    "Set the rectangular phone with curved edges on the L-shaped smooth brown phonestand.",
+    "Set the smartphone with black display on the L-shaped smooth brown phonestand.",
+    "Set the smartphone with black display on the angled brown phonestand.",
+    "Set the rectangular phone with curved edges on the angled brown phonestand.",
+    "Set the smartphone with black display on the brown angled plastic phonestand.",
+    "Set the phone with flat black screen on the angled brown phonestand.",
+    "Set the rectangular phone with curved edges on the angled brown phonestand.",
+    "Set the rectangular phone with curved edges on the angled brown phonestand.",
+    "Set the phone with flat black screen on the L-shaped smooth brown phonestand.",
+    "Set the smartphone with black display on the angled brown phonestand.",
+    "Set the rectangular phone with curved edges on the L-shaped smooth brown phonestand.",
+    "Set the phone with flat black screen on the angled brown phonestand.",
+    "Set the smartphone with black display on the L-shaped smooth brown phonestand.",
+    "Set the rectangular phone with curved edges on the angled brown phonestand.",
+    "Set the rectangular phone with curved edges on the L-shaped smooth brown phonestand."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001128.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001128.json
new file mode 100644
index 0000000000000000000000000000000000000000..728e8105c90cc3a8f5e9828f9aee61501f9931e0
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001128.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the plastic bottle with sealed yellow cap with the right arm and shake.",
+    "Use the right arm to lift and shake the bottle with printed label.",
+    "Catch the bottle with yellow cap and shake it instantly.",
+    "With the right arm, pick the orange cylindrical bottle and shake properly.",
+    "Pick up the smooth plastic bottle and shake it.",
+    "Shake the bottle for liquids after grabbing it.",
+    "Using the right arm, shake the bottle with narrow neck and then place it back.",
+    "Use the right arm to hold the plastic bottle and shake it.",
+    "Use the right arm to pick and shake the cylindrical orange bottle with yellow top.",
+    "Use the right arm to grab the plastic bottle and shake it.",
+    "Grab the plastic bottle and move it to shake.",
+    "Pick the bottle for liquids, shake it with the right arm.",
+    "Hold the bottle with narrow neck and shake it properly.",
+    "Hold the smooth plastic bottle steady, then shake it.",
+    "Shake the smooth plastic bottle after lifting it.",
+    "Grip the orange bottle using the right arm and shake.",
+    "Lift up the bottle with narrow neck using the right arm, then shake.",
+    "Hold the bottle with printed label with the right arm and shake lightly.",
+    "Hold and shake the the plastic bottle carefully.",
+    "Shake the bottle with printed label after grabbing it.",
+    "Grab the yellow-capped plastic bottle and shake it steadily.",
+    "Grab the yellow-capped plastic bottle firmly, shake it, and put it down.",
+    "Grab the bottle for liquids with the right arm and shake.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Utilize the right arm to hold the plastic bottle with sealed yellow cap and shake it.",
+    "Use the right arm to grab the yellow-capped plastic bottle and shake properly.",
+    "Shake the the bottle with printed label properly after lifting.",
+    "Pick up the plastic bottle and shake it well.",
+    "Grab the orange cylindrical bottle using the right arm, then shake.",
+    "Lift the cylindrical orange bottle with yellow top with the right arm and give it a shake.",
+    "Grab the plastic bottle and give it a shake.",
+    "Take the bottle for liquids using the right arm and give it a shake.",
+    "Lift the bottle with printed label and shake it thoroughly.",
+    "Grasp the bottle with narrow neck with the right arm and shake it.",
+    "Pick the yellow-capped plastic bottle and perform shaking motion.",
+    "Shake the orange cylindrical bottle thoroughly after grabbing it.",
+    "Shake the bottle with printed label after holding it firmly.",
+    "Secure the bottle with narrow neck and perform a shake.",
+    "Shake the plastic bottle with sealed yellow cap using the right arm after grabbing.",
+    "Use the right arm to lift and shake the cylindrical orange bottle with yellow top.",
+    "Pick the yellow-capped plastic bottle up using the right arm and shake it.",
+    "Lift the orange cylindrical bottle with the right arm and shake it.",
+    "Grab the yellow-capped plastic bottle carefully and shake.",
+    "Shake the orange cylindrical bottle after grabbing it.",
+    "Hold the plastic bottle, shake it briefly.",
+    "Lift the medium-sized orange bottle and shake it gently.",
+    "Shake the orange cylindrical bottle firmly after grabbing.",
+    "Secure the yellow-capped plastic bottle, shake it, and place it down.",
+    "Pick the cylindrical orange bottle with yellow top up with the right arm and shake.",
+    "Grab and shake the orange cylindrical bottle using the right arm.",
+    "Lift the plastic bottle with sealed yellow cap with the right arm and shake.",
+    "Use the right arm to lift and shake the smooth plastic bottle.",
+    "Catch the bottle with narrow neck and shake it instantly.",
+    "With the right arm, pick the bottle for liquids and shake properly.",
+    "Pick up the plastic bottle with sealed yellow cap and shake it.",
+    "Shake the yellow-capped plastic bottle after grabbing it.",
+    "Using the right arm, shake the orange cylindrical bottle and then place it back.",
+    "Use the right arm to hold the plastic bottle with sealed yellow cap and shake it.",
+    "Use the right arm to pick and shake the orange bottle.",
+    "Use the right arm to grab the bottle with yellow cap and shake it.",
+    "Grab the orange cylindrical bottle and move it to shake.",
+    "Pick the bottle with yellow cap, shake it with the right arm.",
+    "Hold the smooth plastic bottle and shake it properly.",
+    "Hold the plastic bottle with sealed yellow cap steady, then shake it.",
+    "Shake the medium-sized orange bottle after lifting it.",
+    "Grip the bottle with printed label using the right arm and shake.",
+    "Lift up the cylindrical orange bottle with yellow top using the right arm, then shake.",
+    "Hold the orange bottle with the right arm and shake lightly.",
+    "Hold and shake the the bottle with yellow cap carefully.",
+    "Shake the yellow-capped plastic bottle after grabbing it.",
+    "Grab the cylindrical orange bottle with yellow top and shake it steadily.",
+    "Grab the plastic bottle with sealed yellow cap firmly, shake it, and put it down.",
+    "Grab the bottle with narrow neck with the right arm and shake.",
+    "Use the right arm to lift and shake the orange cylindrical bottle.",
+    "Utilize the right arm to hold the bottle for liquids and shake it.",
+    "Use the right arm to grab the bottle for liquids and shake properly.",
+    "Shake the the bottle with printed label properly after lifting.",
+    "Pick up the yellow-capped plastic bottle and shake it well.",
+    "Grab the orange bottle using the right arm, then shake.",
+    "Lift the bottle for liquids with the right arm and give it a shake.",
+    "Grab the orange bottle and give it a shake.",
+    "Take the smooth plastic bottle using the right arm and give it a shake.",
+    "Lift the yellow-capped plastic bottle and shake it thoroughly.",
+    "Grasp the medium-sized orange bottle with the right arm and shake it.",
+    "Pick the smooth plastic bottle and perform shaking motion.",
+    "Shake the plastic bottle thoroughly after grabbing it.",
+    "Shake the bottle with printed label after holding it firmly.",
+    "Secure the bottle with printed label and perform a shake.",
+    "Shake the bottle with printed label using the right arm after grabbing.",
+    "Use the right arm to lift and shake the bottle with narrow neck.",
+    "Pick the yellow-capped plastic bottle up using the right arm and shake it.",
+    "Lift the orange cylindrical bottle with the right arm and shake it.",
+    "Grab the orange bottle carefully and shake.",
+    "Shake the orange bottle after grabbing it.",
+    "Hold the orange cylindrical bottle, shake it briefly.",
+    "Lift the smooth plastic bottle and shake it gently.",
+    "Shake the plastic bottle firmly after grabbing.",
+    "Secure the orange cylindrical bottle, shake it, and place it down.",
+    "Pick the orange cylindrical bottle up with the right arm and shake.",
+    "Grab and shake the cylindrical orange bottle with yellow top using the right arm."
+  ],
+  "unseen": [
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Use the right arm to grab the label-covered orange bottle and shake.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Shake the orange bottle with smooth texture after picking it with the right arm.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Use the right arm to grab the orange bottle with smooth texture and shake.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Grab the handheld orange bottle and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the right arm.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Shake the orange bottle with smooth texture after picking it with the right arm.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Use the right arm to grab the orange bottle with smooth texture and shake.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Pick and shake the the label-covered orange bottle with the right arm.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Shake the label-covered orange bottle after picking it with the right arm.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Use the right arm to grab the orange bottle with smooth texture and shake.",
+    "Pick up the label-covered orange bottle with the right arm and shake.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Pick and shake the the label-covered orange bottle with the right arm.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Use the right arm to grab the orange bottle with smooth texture and shake.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Grab the handheld orange bottle and shake it.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Shake the orange bottle with smooth texture after picking it with the right arm.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Use the right arm to grab the orange bottle with smooth texture and shake.",
+    "Pick up the label-covered orange bottle with the right arm and shake.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Pick and shake the the label-covered orange bottle with the right arm.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Shake the label-covered orange bottle after picking it with the right arm.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Use the right arm to grab the handheld orange bottle and shake.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Pick and shake the the label-covered orange bottle with the right arm.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Shake the label-covered orange bottle after picking it with the right arm.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Use the right arm to grab the orange bottle with smooth texture and shake.",
+    "Pick up the label-covered orange bottle with the right arm and shake.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Shake the label-covered orange bottle after picking it with the right arm.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Use the right arm to grab the label-covered orange bottle and shake.",
+    "Pick up the label-covered orange bottle with the right arm and shake.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the right arm.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Shake the label-covered orange bottle after picking it with the right arm.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Use the right arm to grab the orange bottle with smooth texture and shake.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Shake the label-covered orange bottle after picking it with the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001132.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001132.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a8a61552ddeac495e812d38b7c6efc80512bf37
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001132.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the yellow bottle with green label and shake it thoroughly.",
+    "Hold and shake the the rectangular bottle carefully.",
+    "Use the left arm to lift and shake the bottle for liquids.",
+    "Grab the handheld bottle with the left arm and shake.",
+    "Use the left arm to hold the smooth yellow plastic bottle and shake it.",
+    "Lift the yellow bottle with the left arm and shake it.",
+    "Secure the bottle for liquids, shake it, and place it down.",
+    "Hold the bottle for liquids, shake it briefly.",
+    "Grab and shake the yellow body bottle using the left arm.",
+    "Lift the yellow bottle with cylindrical cap with the left arm and give it a shake.",
+    "Lift the yellow bottle with flower design and shake it gently.",
+    "Shake the bottle for liquids after grabbing it.",
+    "Use the left arm to lift and shake the rectangular bottle.",
+    "Use the left arm to grab the bottle with white cap and shake it.",
+    "Using the left arm, shake the bottle with green and white label and then place it back.",
+    "Pick the rectangular bottle up using the left arm and shake it.",
+    "Shake the handheld bottle after lifting it.",
+    "Pick up the smooth yellow plastic bottle and shake it well.",
+    "Pick the yellow bottle with flower design, shake it with the left arm.",
+    "Shake the plastic bottle firmly after grabbing.",
+    "Take the plastic bottle using the left arm and give it a shake.",
+    "Shake the yellow bottle with green label thoroughly after grabbing it.",
+    "Hold the plastic bottle with the left arm and shake lightly.",
+    "Pick the yellow body bottle and perform shaking motion.",
+    "Grab the yellow bottle with cylindrical cap carefully and shake.",
+    "Grip the yellow bottle with cylindrical cap using the left arm and shake.",
+    "Grab the smooth yellow plastic bottle and shake it steadily.",
+    "Catch the bottle with white cap and shake it instantly.",
+    "Shake the yellow bottle with flower design after grabbing it.",
+    "Grab the yellow bottle using the left arm, then shake.",
+    "Grab the yellow bottle with cylindrical cap and move it to shake.",
+    "Lift the rectangular bottle with the left arm and shake.",
+    "Shake the bottle with white cap after holding it firmly.",
+    "With the left arm, pick the yellow bottle and shake properly.",
+    "Grasp the plastic bottle with the left arm and shake it.",
+    "Shake the the yellow body bottle properly after lifting.",
+    "Grab the yellow body bottle and give it a shake.",
+    "Lift up the handheld bottle using the left arm, then shake.",
+    "Use the left arm to pick and shake the yellow body bottle.",
+    "Shake the yellow bottle with cylindrical cap after grabbing it.",
+    "Secure the rectangular bottle and perform a shake.",
+    "Grab the yellow body bottle firmly, shake it, and put it down.",
+    "Use the left arm to lift and shake the smooth yellow plastic bottle.",
+    "Hold the yellow bottle with flower design steady, then shake it.",
+    "Use the left arm to grab the rectangular bottle and shake properly.",
+    "Utilize the left arm to hold the bottle for liquids and shake it.",
+    "Hold the handheld bottle and shake it properly.",
+    "Pick the bottle with green and white label up with the left arm and shake.",
+    "Shake the yellow bottle with cylindrical cap using the left arm after grabbing.",
+    "Pick up the yellow bottle with flower design and shake it.",
+    "Lift the bottle with white cap and shake it thoroughly.",
+    "Hold and shake the the bottle with white cap carefully.",
+    "Use the left arm to lift and shake the bottle with white cap.",
+    "Grab the rectangular bottle with the left arm and shake.",
+    "Use the left arm to hold the bottle with white cap and shake it.",
+    "Lift the bottle for liquids with the left arm and shake it.",
+    "Secure the yellow bottle with cylindrical cap, shake it, and place it down.",
+    "Hold the plastic bottle, shake it briefly.",
+    "Grab and shake the bottle with white cap using the left arm.",
+    "Lift the bottle with white cap with the left arm and give it a shake.",
+    "Lift the bottle with white cap and shake it gently.",
+    "Shake the smooth yellow plastic bottle after grabbing it.",
+    "Use the left arm to lift and shake the yellow body bottle.",
+    "Use the left arm to grab the rectangular bottle and shake it.",
+    "Using the left arm, shake the plastic bottle and then place it back.",
+    "Pick the handheld bottle up using the left arm and shake it.",
+    "Shake the yellow bottle after lifting it.",
+    "Pick up the yellow body bottle and shake it well.",
+    "Pick the yellow bottle with flower design, shake it with the left arm.",
+    "Shake the handheld bottle firmly after grabbing.",
+    "Take the yellow body bottle using the left arm and give it a shake.",
+    "Shake the bottle for liquids thoroughly after grabbing it.",
+    "Hold the bottle for liquids with the left arm and shake lightly.",
+    "Pick the bottle with green and white label and perform shaking motion.",
+    "Grab the rectangular bottle carefully and shake.",
+    "Grip the plastic bottle using the left arm and shake.",
+    "Grab the yellow bottle with cylindrical cap and shake it steadily.",
+    "Catch the handheld bottle and shake it instantly.",
+    "Shake the rectangular bottle after grabbing it.",
+    "Grab the smooth yellow plastic bottle using the left arm, then shake.",
+    "Grab the yellow bottle with flower design and move it to shake.",
+    "Lift the bottle with green and white label with the left arm and shake.",
+    "Shake the bottle with white cap after holding it firmly.",
+    "With the left arm, pick the handheld bottle and shake properly.",
+    "Grasp the bottle with white cap with the left arm and shake it.",
+    "Shake the the bottle with white cap properly after lifting.",
+    "Grab the bottle for liquids and give it a shake.",
+    "Lift up the handheld bottle using the left arm, then shake.",
+    "Use the left arm to pick and shake the smooth yellow plastic bottle.",
+    "Shake the yellow bottle with green label after grabbing it.",
+    "Secure the handheld bottle and perform a shake.",
+    "Grab the bottle for liquids firmly, shake it, and put it down.",
+    "Use the left arm to lift and shake the bottle for liquids.",
+    "Hold the yellow bottle with cylindrical cap steady, then shake it.",
+    "Use the left arm to grab the yellow body bottle and shake properly.",
+    "Utilize the left arm to hold the handheld bottle and shake it.",
+    "Hold the plastic bottle and shake it properly.",
+    "Pick the smooth yellow plastic bottle up with the left arm and shake.",
+    "Shake the bottle with white cap using the left arm after grabbing.",
+    "Pick up the plastic bottle and shake it."
+  ],
+  "unseen": [
+    "Pick and shake the the bottle with printed label with the left arm.",
+    "Use the left arm to grab the bottle with printed label and shake.",
+    "Pick up the bottle with rounded edges and shake it.",
+    "Pick up the bottle with rounded edges with the left arm and shake.",
+    "Grab the bottle with printed label and shake it.",
+    "Pick up the bottle with printed label and shake it.",
+    "Shake the bottle with printed label after picking it with the left arm.",
+    "Grab the medium bottle and give it a shake.",
+    "Use the left arm to pick the bottle with printed label.",
+    "Grab the medium bottle, shake it properly, then set it down.",
+    "Pick and shake the the bottle with rounded edges with the left arm.",
+    "Use the left arm to grab the bottle with rounded edges and shake.",
+    "Pick up the bottle with printed label and shake it.",
+    "Pick up the bottle with printed label with the left arm and shake.",
+    "Grab the medium bottle and shake it.",
+    "Pick up the medium bottle and shake it.",
+    "Shake the bottle with printed label after picking it with the left arm.",
+    "Grab the bottle with rounded edges and give it a shake.",
+    "Use the left arm to pick the medium bottle.",
+    "Grab the medium bottle, shake it properly, then set it down.",
+    "Pick and shake the the bottle with printed label with the left arm.",
+    "Use the left arm to grab the medium bottle and shake.",
+    "Pick up the medium bottle and shake it.",
+    "Pick up the medium bottle with the left arm and shake.",
+    "Grab the bottle with printed label and shake it.",
+    "Pick up the bottle with printed label and shake it.",
+    "Shake the medium bottle after picking it with the left arm.",
+    "Grab the bottle with rounded edges and give it a shake.",
+    "Use the left arm to pick the bottle with printed label.",
+    "Grab the bottle with rounded edges, shake it properly, then set it down.",
+    "Pick and shake the the bottle with printed label with the left arm.",
+    "Use the left arm to grab the bottle with rounded edges and shake.",
+    "Pick up the bottle with rounded edges and shake it.",
+    "Pick up the medium bottle with the left arm and shake.",
+    "Grab the bottle with rounded edges and shake it.",
+    "Pick up the bottle with rounded edges and shake it.",
+    "Shake the bottle with printed label after picking it with the left arm.",
+    "Grab the bottle with rounded edges and give it a shake.",
+    "Use the left arm to pick the bottle with printed label.",
+    "Grab the bottle with rounded edges, shake it properly, then set it down.",
+    "Pick and shake the the medium bottle with the left arm.",
+    "Use the left arm to grab the bottle with printed label and shake.",
+    "Pick up the bottle with rounded edges and shake it.",
+    "Pick up the bottle with rounded edges with the left arm and shake.",
+    "Grab the medium bottle and shake it.",
+    "Pick up the bottle with rounded edges and shake it.",
+    "Shake the medium bottle after picking it with the left arm.",
+    "Grab the bottle with printed label and give it a shake.",
+    "Use the left arm to pick the bottle with printed label.",
+    "Grab the bottle with rounded edges, shake it properly, then set it down.",
+    "Pick and shake the the bottle with printed label with the left arm.",
+    "Use the left arm to grab the bottle with printed label and shake.",
+    "Pick up the medium bottle and shake it.",
+    "Pick up the bottle with printed label with the left arm and shake.",
+    "Grab the bottle with rounded edges and shake it.",
+    "Pick up the bottle with rounded edges and shake it.",
+    "Shake the bottle with printed label after picking it with the left arm.",
+    "Grab the bottle with rounded edges and give it a shake.",
+    "Use the left arm to pick the medium bottle.",
+    "Grab the bottle with rounded edges, shake it properly, then set it down.",
+    "Pick and shake the the medium bottle with the left arm.",
+    "Use the left arm to grab the bottle with printed label and shake.",
+    "Pick up the bottle with rounded edges and shake it.",
+    "Pick up the bottle with rounded edges with the left arm and shake.",
+    "Grab the bottle with printed label and shake it.",
+    "Pick up the medium bottle and shake it.",
+    "Shake the medium bottle after picking it with the left arm.",
+    "Grab the bottle with rounded edges and give it a shake.",
+    "Use the left arm to pick the bottle with printed label.",
+    "Grab the bottle with printed label, shake it properly, then set it down.",
+    "Pick and shake the the bottle with rounded edges with the left arm.",
+    "Use the left arm to grab the bottle with rounded edges and shake.",
+    "Pick up the bottle with rounded edges and shake it.",
+    "Pick up the medium bottle with the left arm and shake.",
+    "Grab the medium bottle and shake it.",
+    "Pick up the bottle with rounded edges and shake it.",
+    "Shake the bottle with rounded edges after picking it with the left arm.",
+    "Grab the bottle with printed label and give it a shake.",
+    "Use the left arm to pick the bottle with printed label.",
+    "Grab the bottle with printed label, shake it properly, then set it down.",
+    "Pick and shake the the bottle with printed label with the left arm.",
+    "Use the left arm to grab the bottle with rounded edges and shake.",
+    "Pick up the medium bottle and shake it.",
+    "Pick up the medium bottle with the left arm and shake.",
+    "Grab the bottle with printed label and shake it.",
+    "Pick up the bottle with printed label and shake it.",
+    "Shake the bottle with rounded edges after picking it with the left arm.",
+    "Grab the medium bottle and give it a shake.",
+    "Use the left arm to pick the bottle with printed label.",
+    "Grab the bottle with printed label, shake it properly, then set it down.",
+    "Pick and shake the the medium bottle with the left arm.",
+    "Use the left arm to grab the bottle with rounded edges and shake.",
+    "Pick up the bottle with rounded edges and shake it.",
+    "Pick up the medium bottle with the left arm and shake.",
+    "Grab the bottle with printed label and shake it.",
+    "Pick up the medium bottle and shake it.",
+    "Shake the bottle with rounded edges after picking it with the left arm.",
+    "Grab the bottle with rounded edges and give it a shake.",
+    "Use the left arm to pick the bottle with printed label.",
+    "Grab the bottle with printed label, shake it properly, then set it down."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001346.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001346.json
new file mode 100644
index 0000000000000000000000000000000000000000..6cff3afddd4e8f84ff7105a716fe9d9e798d2546
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001346.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the bottle with orange cap using the right arm, then shake.",
+    "Lift the orange and white bottle with cap with the right arm and shake it.",
+    "Shake the medium bottle with orange lid thoroughly after grabbing it.",
+    "Pick the white and orange plastic bottle and perform shaking motion.",
+    "Hold and shake the the bottle with ribbed orange bottom carefully.",
+    "Lift the yellow label bottle and shake it thoroughly.",
+    "Hold the plastic bottle steady, then shake it.",
+    "Pick the cylindrical orange and white bottle, shake it with the right arm.",
+    "Use the right arm to lift and shake the cylindrical orange and white bottle.",
+    "Hold the bottle with orange cap with the right arm and shake lightly.",
+    "Use the right arm to grab the medium bottle with orange lid and shake properly.",
+    "Shake the smooth plastic bottle after grabbing it.",
+    "Grip the plastic bottle using the right arm and shake.",
+    "Lift the smooth plastic bottle with the right arm and give it a shake.",
+    "Grab the smooth plastic bottle with the right arm and shake.",
+    "Shake the medium orange bottle after holding it firmly.",
+    "Hold the drinking bottle with yellow label, shake it briefly.",
+    "With the right arm, pick the yellow label bottle and shake properly.",
+    "Grab the cylindrical orange and white bottle and shake it steadily.",
+    "Grab the orange and white bottle with cap carefully and shake.",
+    "Lift the medium bottle with orange lid and shake it gently.",
+    "Using the right arm, shake the bottle with ribbed orange bottom and then place it back.",
+    "Shake the the orange bottle properly after lifting.",
+    "Pick the orange and white bottle with cap up with the right arm and shake.",
+    "Use the right arm to lift and shake the white and orange plastic bottle.",
+    "Use the right arm to hold the cylindrical orange and white bottle and shake it.",
+    "Grab and shake the plastic bottle using the right arm.",
+    "Take the medium orange bottle using the right arm and give it a shake.",
+    "Lift the orange bottle with the right arm and shake.",
+    "Shake the orange and white bottle with cap after grabbing it.",
+    "Grasp the orange bottle with the right arm and shake it.",
+    "Pick up the medium orange bottle and shake it.",
+    "Use the right arm to pick and shake the bottle with ribbed orange bottom.",
+    "Pick the orange and white bottle with cap up using the right arm and shake it.",
+    "Use the right arm to grab the bottle with ribbed orange bottom and shake it.",
+    "Grab the white and orange plastic bottle and move it to shake.",
+    "Shake the white and orange plastic bottle after lifting it.",
+    "Grab the white and orange plastic bottle and give it a shake.",
+    "Utilize the right arm to hold the plastic bottle and shake it.",
+    "Shake the medium bottle with orange lid after grabbing it.",
+    "Secure the bottle with orange cap, shake it, and place it down.",
+    "Use the right arm to lift and shake the medium orange bottle.",
+    "Catch the cylindrical orange and white bottle and shake it instantly.",
+    "Shake the plastic bottle firmly after grabbing.",
+    "Shake the white and orange plastic bottle using the right arm after grabbing.",
+    "Hold the drinking bottle with yellow label and shake it properly.",
+    "Secure the white and orange plastic bottle and perform a shake.",
+    "Pick up the bottle with orange cap and shake it well.",
+    "Lift up the orange bottle using the right arm, then shake.",
+    "Grab the smooth plastic bottle firmly, shake it, and put it down.",
+    "Grab the white and orange plastic bottle using the right arm, then shake.",
+    "Lift the orange and white bottle with cap with the right arm and shake it.",
+    "Shake the medium bottle with orange lid thoroughly after grabbing it.",
+    "Pick the medium bottle with orange lid and perform shaking motion.",
+    "Hold and shake the the bottle with ribbed orange bottom carefully.",
+    "Lift the smooth plastic bottle and shake it thoroughly.",
+    "Hold the cylindrical orange and white bottle steady, then shake it.",
+    "Pick the bottle with ribbed orange bottom, shake it with the right arm.",
+    "Use the right arm to lift and shake the yellow label bottle.",
+    "Hold the medium orange bottle with the right arm and shake lightly.",
+    "Use the right arm to grab the plastic bottle and shake properly.",
+    "Shake the medium bottle with orange lid after grabbing it.",
+    "Grip the yellow label bottle using the right arm and shake.",
+    "Lift the orange bottle with the right arm and give it a shake.",
+    "Grab the orange and white bottle with cap with the right arm and shake.",
+    "Shake the orange and white bottle with cap after holding it firmly.",
+    "Hold the plastic bottle, shake it briefly.",
+    "With the right arm, pick the medium bottle with orange lid and shake properly.",
+    "Grab the white and orange plastic bottle and shake it steadily.",
+    "Grab the orange bottle carefully and shake.",
+    "Lift the cylindrical orange and white bottle and shake it gently.",
+    "Using the right arm, shake the white and orange plastic bottle and then place it back.",
+    "Shake the the medium bottle with orange lid properly after lifting.",
+    "Pick the bottle with orange cap up with the right arm and shake.",
+    "Use the right arm to lift and shake the bottle with orange cap.",
+    "Use the right arm to hold the medium orange bottle and shake it.",
+    "Grab and shake the drinking bottle with yellow label using the right arm.",
+    "Take the smooth plastic bottle using the right arm and give it a shake.",
+    "Lift the bottle with ribbed orange bottom with the right arm and shake.",
+    "Shake the smooth plastic bottle after grabbing it.",
+    "Grasp the orange and white bottle with cap with the right arm and shake it.",
+    "Pick up the orange and white bottle with cap and shake it.",
+    "Use the right arm to pick and shake the yellow label bottle.",
+    "Pick the bottle with orange cap up using the right arm and shake it.",
+    "Use the right arm to grab the orange and white bottle with cap and shake it.",
+    "Grab the orange and white bottle with cap and move it to shake.",
+    "Shake the bottle with orange cap after lifting it.",
+    "Grab the yellow label bottle and give it a shake.",
+    "Utilize the right arm to hold the bottle with orange cap and shake it.",
+    "Shake the plastic bottle after grabbing it.",
+    "Secure the plastic bottle, shake it, and place it down.",
+    "Use the right arm to lift and shake the yellow label bottle.",
+    "Catch the yellow label bottle and shake it instantly.",
+    "Shake the orange and white bottle with cap firmly after grabbing.",
+    "Shake the medium bottle with orange lid using the right arm after grabbing.",
+    "Hold the cylindrical orange and white bottle and shake it properly.",
+    "Secure the bottle with orange cap and perform a shake.",
+    "Pick up the bottle with orange cap and shake it well.",
+    "Lift up the white and orange plastic bottle using the right arm, then shake.",
+    "Grab the yellow label bottle firmly, shake it, and put it down."
+  ],
+  "unseen": [
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Grab the bottle with curved body and shake it.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Grab the bottle with curved body and shake it.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Grab the bottle with curved body and shake it.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002026.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002026.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbcded2cdbae372b31796cd3cad7c81c65d81c8f
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002026.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the plastic bottle and move it to shake.",
+    "Shake the bottle with green and white labels using the left arm after grabbing.",
+    "Grab and shake the smooth bottle with rounded edges using the left arm.",
+    "Secure the bottle with green and white labels and perform a shake.",
+    "Grasp the plastic bottle with the left arm and shake it.",
+    "Hold and shake the the yellow bottle carefully.",
+    "Pick up the bottle with green label and shake it.",
+    "Use the left arm to grab the plastic bottle and shake properly.",
+    "Lift up the medium rectangular yellow bottle using the left arm, then shake.",
+    "Pick the medium rectangular yellow bottle up using the left arm and shake it.",
+    "Pick up the medium rectangular yellow bottle and shake it well.",
+    "Use the left arm to lift and shake the medium rectangular yellow bottle.",
+    "Grab the yellow container with rounded edges carefully and shake.",
+    "Shake the bottle with green label after lifting it.",
+    "Hold the yellow container with rounded edges, shake it briefly.",
+    "Shake the bottle with green and white labels firmly after grabbing.",
+    "Grab the rectangular bottle with cylindrical neck with the left arm and shake.",
+    "Use the left arm to grab the bottle with green label and shake it.",
+    "Lift the bottle with green label with the left arm and give it a shake.",
+    "Lift the bottle with green and white labels and shake it gently.",
+    "Use the left arm to lift and shake the yellow bottle.",
+    "Shake the yellow bottle with a green design after grabbing it.",
+    "Use the left arm to pick and shake the yellow bottle.",
+    "Shake the medium rectangular yellow bottle thoroughly after grabbing it.",
+    "Hold the smooth bottle with rounded edges and shake it properly.",
+    "Utilize the left arm to hold the yellow bottle and shake it.",
+    "Hold the bottle with green label with the left arm and shake lightly.",
+    "Shake the yellow container with rounded edges after grabbing it.",
+    "Shake the the bottle with green label properly after lifting.",
+    "With the left arm, pick the bottle with white cap and shake properly.",
+    "Take the yellow container with rounded edges using the left arm and give it a shake.",
+    "Grab the bottle with a smooth plastic body and shake it steadily.",
+    "Lift the smooth bottle with rounded edges with the left arm and shake it.",
+    "Catch the yellow bottle with a green design and shake it instantly.",
+    "Secure the medium rectangular yellow bottle, shake it, and place it down.",
+    "Grab the bottle with white cap firmly, shake it, and put it down.",
+    "Using the left arm, shake the rectangular bottle with cylindrical neck and then place it back.",
+    "Shake the yellow container with rounded edges after grabbing it.",
+    "Pick the yellow container with rounded edges, shake it with the left arm.",
+    "Shake the bottle with green label after holding it firmly.",
+    "Use the left arm to hold the bottle with green and white labels and shake it.",
+    "Use the left arm to lift and shake the yellow bottle.",
+    "Lift the yellow container with rounded edges with the left arm and shake.",
+    "Hold the bottle with green label steady, then shake it.",
+    "Grab the smooth bottle with rounded edges and give it a shake.",
+    "Grip the bottle with green and white labels using the left arm and shake.",
+    "Grab the yellow bottle using the left arm, then shake.",
+    "Pick the bottle with green label up with the left arm and shake.",
+    "Pick the bottle with green and white labels and perform shaking motion.",
+    "Lift the medium rectangular yellow bottle and shake it thoroughly.",
+    "Grab the plastic bottle and move it to shake.",
+    "Shake the bottle with a smooth plastic body using the left arm after grabbing.",
+    "Grab and shake the rectangular bottle with cylindrical neck using the left arm.",
+    "Secure the bottle with a smooth plastic body and perform a shake.",
+    "Grasp the bottle with a smooth plastic body with the left arm and shake it.",
+    "Hold and shake the the yellow container with rounded edges carefully.",
+    "Pick up the bottle with green and white labels and shake it.",
+    "Use the left arm to grab the yellow plastic bottle with white top and shake properly.",
+    "Lift up the bottle with a smooth plastic body using the left arm, then shake.",
+    "Pick the bottle with green label up using the left arm and shake it.",
+    "Pick up the bottle with green label and shake it well.",
+    "Use the left arm to lift and shake the medium rectangular yellow bottle.",
+    "Grab the smooth bottle with rounded edges carefully and shake.",
+    "Shake the smooth bottle with rounded edges after lifting it.",
+    "Hold the bottle with green label, shake it briefly.",
+    "Shake the rectangular bottle with cylindrical neck firmly after grabbing.",
+    "Grab the yellow bottle with a green design with the left arm and shake.",
+    "Use the left arm to grab the bottle with a smooth plastic body and shake it.",
+    "Lift the bottle with a smooth plastic body with the left arm and give it a shake.",
+    "Lift the medium rectangular yellow bottle and shake it gently.",
+    "Use the left arm to lift and shake the bottle with white cap.",
+    "Shake the yellow bottle with a green design after grabbing it.",
+    "Use the left arm to pick and shake the yellow bottle with a green design.",
+    "Shake the smooth bottle with rounded edges thoroughly after grabbing it.",
+    "Hold the yellow plastic bottle with white top and shake it properly.",
+    "Utilize the left arm to hold the rectangular bottle with cylindrical neck and shake it.",
+    "Hold the bottle with a smooth plastic body with the left arm and shake lightly.",
+    "Shake the yellow plastic bottle with white top after grabbing it.",
+    "Shake the the yellow container with rounded edges properly after lifting.",
+    "With the left arm, pick the yellow container with rounded edges and shake properly.",
+    "Take the yellow bottle using the left arm and give it a shake.",
+    "Grab the bottle with green label and shake it steadily.",
+    "Lift the yellow container with rounded edges with the left arm and shake it.",
+    "Catch the bottle with green and white labels and shake it instantly.",
+    "Secure the yellow plastic bottle with white top, shake it, and place it down.",
+    "Grab the yellow container with rounded edges firmly, shake it, and put it down.",
+    "Using the left arm, shake the rectangular bottle with cylindrical neck and then place it back.",
+    "Shake the bottle with green label after grabbing it.",
+    "Pick the medium rectangular yellow bottle, shake it with the left arm.",
+    "Shake the bottle with a smooth plastic body after holding it firmly.",
+    "Use the left arm to hold the yellow bottle with a green design and shake it.",
+    "Use the left arm to lift and shake the bottle with green and white labels.",
+    "Lift the bottle with green label with the left arm and shake.",
+    "Hold the medium rectangular yellow bottle steady, then shake it.",
+    "Grab the smooth bottle with rounded edges and give it a shake.",
+    "Grip the smooth bottle with rounded edges using the left arm and shake.",
+    "Grab the rectangular bottle with cylindrical neck using the left arm, then shake.",
+    "Pick the rectangular bottle with cylindrical neck up with the left arm and shake.",
+    "Pick the yellow container with rounded edges and perform shaking motion.",
+    "Lift the yellow bottle with a green design and shake it thoroughly."
+  ],
+  "unseen": [
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Pick and shake the the yellow bottle for liquid storage with the left arm.",
+    "Pick up the hand-sized yellow plastic bottle with the left arm and shake.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the left arm to pick the yellow bottle for liquid storage.",
+    "Shake the yellow rectangular bottle after picking it with the left arm.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the left arm.",
+    "Pick up the hand-sized yellow plastic bottle with the left arm and shake.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the left arm to pick the yellow bottle for liquid storage.",
+    "Shake the yellow rectangular bottle after picking it with the left arm.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Pick and shake the the yellow bottle for liquid storage with the left arm.",
+    "Pick up the yellow bottle for liquid storage with the left arm and shake.",
+    "Use the left arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the left arm to pick the yellow rectangular bottle.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the left arm.",
+    "Pick up the hand-sized yellow plastic bottle with the left arm and shake.",
+    "Use the left arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the left arm.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the left arm.",
+    "Pick up the yellow bottle for liquid storage with the left arm and shake.",
+    "Use the left arm to grab the yellow rectangular bottle and shake.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the left arm to pick the yellow rectangular bottle.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Pick and shake the the yellow rectangular bottle with the left arm.",
+    "Pick up the yellow rectangular bottle with the left arm and shake.",
+    "Use the left arm to grab the yellow rectangular bottle and shake.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the left arm to pick the yellow rectangular bottle.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the left arm.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Pick and shake the the yellow rectangular bottle with the left arm.",
+    "Pick up the hand-sized yellow plastic bottle with the left arm and shake.",
+    "Use the left arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the left arm.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the left arm.",
+    "Pick up the yellow rectangular bottle with the left arm and shake.",
+    "Use the left arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Pick and shake the the yellow rectangular bottle with the left arm.",
+    "Pick up the hand-sized yellow plastic bottle with the left arm and shake.",
+    "Use the left arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the left arm to pick the yellow bottle for liquid storage.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the left arm.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Pick and shake the the yellow bottle for liquid storage with the left arm.",
+    "Pick up the yellow bottle for liquid storage with the left arm and shake.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Grab the hand-sized yellow plastic bottle and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002230.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002230.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6602c2439308708d83af90e5d08fd39228c0fad
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002230.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the light blue cylindrical bottle after lifting it.",
+    "Use the left arm to hold the portable bottle for liquids and shake it.",
+    "Grab the portable bottle for liquids with the left arm and shake.",
+    "Grab the blue bottle and shake it steadily.",
+    "Hold the portable bottle for liquids and shake it properly.",
+    "Grab the rounded bottle with black lid firmly, shake it, and put it down.",
+    "Shake the plastic bottle after holding it firmly.",
+    "Hold and shake the the portable bottle for liquids carefully.",
+    "Shake the bottle with black textured cap after grabbing it.",
+    "Shake the portable bottle for liquids after grabbing it.",
+    "Pick up the plastic bottle and shake it well.",
+    "Shake the plastic bottle with black top firmly after grabbing.",
+    "Shake the the blue water bottle with textured lid properly after lifting.",
+    "Use the left arm to pick and shake the blue bottle.",
+    "Use the left arm to grab the light blue cylindrical bottle and shake it.",
+    "Grab the cylindrical bottle with rounded edges carefully and shake.",
+    "Lift the blue water bottle with textured lid with the left arm and shake.",
+    "Shake the rounded bottle with black lid after grabbing it.",
+    "Shake the bottle with black textured cap using the left arm after grabbing.",
+    "Hold the cylindrical bottle with rounded edges with the left arm and shake lightly.",
+    "Use the left arm to grab the medium water bottle and shake properly.",
+    "Grip the light blue cylindrical bottle using the left arm and shake.",
+    "Grab the blue bottle and move it to shake.",
+    "Lift the cylindrical bottle with rounded edges with the left arm and shake it.",
+    "Shake the blue bottle thoroughly after grabbing it.",
+    "Pick the plastic bottle and perform shaking motion.",
+    "Take the light blue cylindrical bottle using the left arm and give it a shake.",
+    "Catch the blue water bottle with textured lid and shake it instantly.",
+    "Use the left arm to lift and shake the portable bottle for liquids.",
+    "Pick the blue bottle, shake it with the left arm.",
+    "Lift the light blue bottle with smooth body and shake it thoroughly.",
+    "Secure the portable bottle for liquids, shake it, and place it down.",
+    "Lift the rounded bottle with black lid with the left arm and give it a shake.",
+    "Use the left arm to lift and shake the cylindrical bottle with rounded edges.",
+    "Pick the medium water bottle up using the left arm and shake it.",
+    "Pick up the plastic bottle with black top and shake it.",
+    "Hold the rounded bottle with black lid, shake it briefly.",
+    "Lift the blue bottle and shake it gently.",
+    "Hold the plastic bottle with black top steady, then shake it.",
+    "Utilize the left arm to hold the bottle with black textured cap and shake it.",
+    "Use the left arm to lift and shake the plastic bottle with black top.",
+    "Grab and shake the plastic bottle using the left arm.",
+    "Grasp the blue water bottle with textured lid with the left arm and shake it.",
+    "Secure the cylindrical bottle with rounded edges and perform a shake.",
+    "Grab the rounded bottle with black lid and give it a shake.",
+    "Grab the blue water bottle with textured lid using the left arm, then shake.",
+    "Using the left arm, shake the plastic bottle and then place it back.",
+    "Pick the plastic bottle up with the left arm and shake.",
+    "Lift up the plastic bottle using the left arm, then shake.",
+    "With the left arm, pick the plastic bottle with black top and shake properly.",
+    "Shake the plastic bottle after lifting it.",
+    "Use the left arm to hold the rounded bottle with black lid and shake it.",
+    "Grab the plastic bottle with the left arm and shake.",
+    "Grab the bottle with black textured cap and shake it steadily.",
+    "Hold the blue water bottle with textured lid and shake it properly.",
+    "Grab the medium water bottle firmly, shake it, and put it down.",
+    "Shake the light blue bottle with strap-loop after holding it firmly.",
+    "Hold and shake the the medium water bottle carefully.",
+    "Shake the rounded bottle with black lid after grabbing it.",
+    "Shake the blue bottle after grabbing it.",
+    "Pick up the plastic bottle and shake it well.",
+    "Shake the light blue bottle with strap-loop firmly after grabbing.",
+    "Shake the the rounded bottle with black lid properly after lifting.",
+    "Use the left arm to pick and shake the rounded bottle with black lid.",
+    "Use the left arm to grab the light blue bottle with smooth body and shake it.",
+    "Grab the bottle with black textured cap carefully and shake.",
+    "Lift the light blue bottle with smooth body with the left arm and shake.",
+    "Shake the cylindrical bottle with rounded edges after grabbing it.",
+    "Shake the bottle with black textured cap using the left arm after grabbing.",
+    "Hold the plastic bottle with black top with the left arm and shake lightly.",
+    "Use the left arm to grab the light blue bottle with strap-loop and shake properly.",
+    "Grip the cylindrical bottle with rounded edges using the left arm and shake.",
+    "Grab the plastic bottle with black top and move it to shake.",
+    "Lift the light blue cylindrical bottle with the left arm and shake it.",
+    "Shake the blue water bottle with textured lid thoroughly after grabbing it.",
+    "Pick the light blue cylindrical bottle and perform shaking motion.",
+    "Take the portable bottle for liquids using the left arm and give it a shake.",
+    "Catch the plastic bottle with black top and shake it instantly.",
+    "Use the left arm to lift and shake the bottle with black textured cap.",
+    "Pick the bottle with black textured cap, shake it with the left arm.",
+    "Lift the cylindrical bottle with rounded edges and shake it thoroughly.",
+    "Secure the light blue bottle with smooth body, shake it, and place it down.",
+    "Lift the light blue bottle with strap-loop with the left arm and give it a shake.",
+    "Use the left arm to lift and shake the cylindrical bottle with rounded edges.",
+    "Pick the medium water bottle up using the left arm and shake it.",
+    "Pick up the medium water bottle and shake it.",
+    "Hold the blue water bottle with textured lid, shake it briefly.",
+    "Lift the bottle with black textured cap and shake it gently.",
+    "Hold the cylindrical bottle with rounded edges steady, then shake it.",
+    "Utilize the left arm to hold the light blue bottle with smooth body and shake it.",
+    "Use the left arm to lift and shake the cylindrical bottle with rounded edges.",
+    "Grab and shake the blue bottle using the left arm.",
+    "Grasp the blue bottle with the left arm and shake it.",
+    "Secure the light blue bottle with strap-loop and perform a shake.",
+    "Grab the portable bottle for liquids and give it a shake.",
+    "Grab the light blue cylindrical bottle using the left arm, then shake.",
+    "Using the left arm, shake the bottle with black textured cap and then place it back.",
+    "Pick the plastic bottle up with the left arm and shake.",
+    "Lift up the bottle with black textured cap using the left arm, then shake.",
+    "With the left arm, pick the plastic bottle with black top and shake properly."
+  ],
+  "unseen": [
+    "Grab the cylindrical plastic bottle for carrying water and shake it.",
+    "Grab the bottle with attached loop on cap and give it a shake.",
+    "Pick up the smooth blue water bottle and shake it.",
+    "Shake the cylindrical plastic bottle for carrying water after picking it with the left arm.",
+    "Grab the bottle with attached loop on cap, shake it properly, then set it down.",
+    "Use the left arm to grab the smooth blue water bottle and shake.",
+    "Pick and shake the the cylindrical plastic bottle for carrying water with the left arm.",
+    "Pick up the cylindrical plastic bottle for carrying water with the left arm and shake.",
+    "Use the left arm to pick the cylindrical plastic bottle for carrying water.",
+    "Pick up the bottle with attached loop on cap and shake it.",
+    "Grab the smooth blue water bottle and shake it.",
+    "Grab the cylindrical plastic bottle for carrying water and give it a shake.",
+    "Pick up the cylindrical plastic bottle for carrying water and shake it.",
+    "Shake the cylindrical plastic bottle for carrying water after picking it with the left arm.",
+    "Grab the smooth blue water bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the smooth blue water bottle and shake.",
+    "Pick and shake the the smooth blue water bottle with the left arm.",
+    "Pick up the cylindrical plastic bottle for carrying water with the left arm and shake.",
+    "Use the left arm to pick the bottle with attached loop on cap.",
+    "Pick up the bottle with attached loop on cap and shake it.",
+    "Grab the bottle with attached loop on cap and shake it.",
+    "Grab the cylindrical plastic bottle for carrying water and give it a shake.",
+    "Pick up the smooth blue water bottle and shake it.",
+    "Shake the cylindrical plastic bottle for carrying water after picking it with the left arm.",
+    "Grab the smooth blue water bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the cylindrical plastic bottle for carrying water and shake.",
+    "Pick and shake the the cylindrical plastic bottle for carrying water with the left arm.",
+    "Pick up the smooth blue water bottle with the left arm and shake.",
+    "Use the left arm to pick the cylindrical plastic bottle for carrying water.",
+    "Pick up the cylindrical plastic bottle for carrying water and shake it.",
+    "Grab the cylindrical plastic bottle for carrying water and shake it.",
+    "Grab the smooth blue water bottle and give it a shake.",
+    "Pick up the smooth blue water bottle and shake it.",
+    "Shake the bottle with attached loop on cap after picking it with the left arm.",
+    "Grab the cylindrical plastic bottle for carrying water, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with attached loop on cap and shake.",
+    "Pick and shake the the bottle with attached loop on cap with the left arm.",
+    "Pick up the smooth blue water bottle with the left arm and shake.",
+    "Use the left arm to pick the cylindrical plastic bottle for carrying water.",
+    "Pick up the bottle with attached loop on cap and shake it.",
+    "Grab the smooth blue water bottle and shake it.",
+    "Grab the cylindrical plastic bottle for carrying water and give it a shake.",
+    "Pick up the cylindrical plastic bottle for carrying water and shake it.",
+    "Shake the smooth blue water bottle after picking it with the left arm.",
+    "Grab the smooth blue water bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with attached loop on cap and shake.",
+    "Pick and shake the the bottle with attached loop on cap with the left arm.",
+    "Pick up the cylindrical plastic bottle for carrying water with the left arm and shake.",
+    "Use the left arm to pick the bottle with attached loop on cap.",
+    "Pick up the cylindrical plastic bottle for carrying water and shake it.",
+    "Grab the cylindrical plastic bottle for carrying water and shake it.",
+    "Grab the smooth blue water bottle and give it a shake.",
+    "Pick up the bottle with attached loop on cap and shake it.",
+    "Shake the smooth blue water bottle after picking it with the left arm.",
+    "Grab the smooth blue water bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with attached loop on cap and shake.",
+    "Pick and shake the the bottle with attached loop on cap with the left arm.",
+    "Pick up the smooth blue water bottle with the left arm and shake.",
+    "Use the left arm to pick the bottle with attached loop on cap.",
+    "Pick up the bottle with attached loop on cap and shake it.",
+    "Grab the bottle with attached loop on cap and shake it.",
+    "Grab the cylindrical plastic bottle for carrying water and give it a shake.",
+    "Pick up the bottle with attached loop on cap and shake it.",
+    "Shake the smooth blue water bottle after picking it with the left arm.",
+    "Grab the cylindrical plastic bottle for carrying water, shake it properly, then set it down.",
+    "Use the left arm to grab the smooth blue water bottle and shake.",
+    "Pick and shake the the bottle with attached loop on cap with the left arm.",
+    "Pick up the cylindrical plastic bottle for carrying water with the left arm and shake.",
+    "Use the left arm to pick the cylindrical plastic bottle for carrying water.",
+    "Pick up the smooth blue water bottle and shake it.",
+    "Grab the cylindrical plastic bottle for carrying water and shake it.",
+    "Grab the bottle with attached loop on cap and give it a shake.",
+    "Pick up the smooth blue water bottle and shake it.",
+    "Shake the cylindrical plastic bottle for carrying water after picking it with the left arm.",
+    "Grab the smooth blue water bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the smooth blue water bottle and shake.",
+    "Pick and shake the the smooth blue water bottle with the left arm.",
+    "Pick up the smooth blue water bottle with the left arm and shake.",
+    "Use the left arm to pick the smooth blue water bottle.",
+    "Pick up the bottle with attached loop on cap and shake it.",
+    "Grab the cylindrical plastic bottle for carrying water and shake it.",
+    "Grab the smooth blue water bottle and give it a shake.",
+    "Pick up the smooth blue water bottle and shake it.",
+    "Shake the smooth blue water bottle after picking it with the left arm.",
+    "Grab the cylindrical plastic bottle for carrying water, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with attached loop on cap and shake.",
+    "Pick and shake the the smooth blue water bottle with the left arm.",
+    "Pick up the cylindrical plastic bottle for carrying water with the left arm and shake.",
+    "Use the left arm to pick the smooth blue water bottle.",
+    "Pick up the smooth blue water bottle and shake it.",
+    "Grab the smooth blue water bottle and shake it.",
+    "Grab the cylindrical plastic bottle for carrying water and give it a shake.",
+    "Pick up the bottle with attached loop on cap and shake it.",
+    "Shake the bottle with attached loop on cap after picking it with the left arm.",
+    "Grab the smooth blue water bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the cylindrical plastic bottle for carrying water and shake.",
+    "Pick and shake the the cylindrical plastic bottle for carrying water with the left arm.",
+    "Pick up the smooth blue water bottle with the left arm and shake.",
+    "Use the left arm to pick the smooth blue water bottle.",
+    "Pick up the smooth blue water bottle and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003116.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003116.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f540f7af1d2177d84672cd468263f2406784cfa
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003116.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to lift and shake the bottle with ridges near base.",
+    "Take the green bottle with indented base using the left arm and give it a shake.",
+    "Lift the medium green bottle with the left arm and shake.",
+    "Grip the handheld green bottle using the left arm and shake.",
+    "Pick the bottle with white printed label and perform shaking motion.",
+    "Shake the bottle with rounded neck using the left arm after grabbing.",
+    "Use the left arm to grab the medium green bottle and shake properly.",
+    "Use the left arm to hold the medium green bottle with capped neck and shake it.",
+    "Grab and shake the bottle with white printed label using the left arm.",
+    "Pick the green bottle with indented base up using the left arm and shake it.",
+    "Grab the smooth green bottle using the left arm, then shake.",
+    "Grab the bottle with rounded neck and move it to shake.",
+    "Hold the medium green bottle, shake it briefly.",
+    "Use the left arm to lift and shake the plastic bottle.",
+    "Grab the plastic bottle and shake it steadily.",
+    "Using the left arm, shake the plastic bottle and then place it back.",
+    "Grasp the bottle with white printed label with the left arm and shake it.",
+    "Shake the bottle with rounded neck firmly after grabbing.",
+    "Lift the medium-sized green bottle and shake it gently.",
+    "Secure the bottle with white printed label and perform a shake.",
+    "Pick up the green bottle with indented base and shake it well.",
+    "Shake the handheld green bottle thoroughly after grabbing it.",
+    "Secure the medium green bottle, shake it, and place it down.",
+    "Shake the the plastic bottle properly after lifting.",
+    "Lift the medium green bottle with capped neck with the left arm and shake it.",
+    "Pick the smooth green plastic bottle up with the left arm and shake.",
+    "Pick up the green bottle with indented base and shake it.",
+    "Use the left arm to lift and shake the smooth green bottle.",
+    "Utilize the left arm to hold the bottle with white printed label and shake it.",
+    "Grab the smooth green plastic bottle and give it a shake.",
+    "Shake the plastic bottle after grabbing it.",
+    "Grab the smooth green plastic bottle with the left arm and shake.",
+    "Shake the medium green bottle with capped neck after grabbing it.",
+    "Use the left arm to grab the handheld green bottle and shake it.",
+    "Shake the smooth green bottle after grabbing it.",
+    "Hold and shake the the bottle with rounded neck carefully.",
+    "Lift up the bottle with ridges near base using the left arm, then shake.",
+    "Grab the medium-sized green bottle firmly, shake it, and put it down.",
+    "Grab the medium-sized green bottle carefully and shake.",
+    "Pick the handheld green bottle, shake it with the left arm.",
+    "Shake the bottle with ridges near base after lifting it.",
+    "With the left arm, pick the bottle with narrow top and shake properly.",
+    "Use the left arm to pick and shake the bottle with rounded neck.",
+    "Lift the plastic bottle with the left arm and give it a shake.",
+    "Lift the plastic bottle and shake it thoroughly.",
+    "Hold the handheld green bottle and shake it properly.",
+    "Hold the bottle with narrow top with the left arm and shake lightly.",
+    "Shake the handheld green bottle after holding it firmly.",
+    "Hold the plastic bottle steady, then shake it.",
+    "Catch the medium-sized green bottle and shake it instantly.",
+    "Use the left arm to lift and shake the bottle with narrow top.",
+    "Take the handheld green bottle using the left arm and give it a shake.",
+    "Lift the medium green bottle with capped neck with the left arm and shake.",
+    "Grip the handheld green bottle using the left arm and shake.",
+    "Pick the plastic bottle and perform shaking motion.",
+    "Shake the green bottle with indented base using the left arm after grabbing.",
+    "Use the left arm to grab the medium green bottle with capped neck and shake properly.",
+    "Use the left arm to hold the bottle with white printed label and shake it.",
+    "Grab and shake the bottle with narrow top using the left arm.",
+    "Pick the bottle with white printed label up using the left arm and shake it.",
+    "Grab the medium green bottle with capped neck using the left arm, then shake.",
+    "Grab the smooth green bottle and move it to shake.",
+    "Hold the handheld green bottle, shake it briefly.",
+    "Use the left arm to lift and shake the bottle with rounded neck.",
+    "Grab the medium green bottle with capped neck and shake it steadily.",
+    "Using the left arm, shake the medium green bottle and then place it back.",
+    "Grasp the bottle with narrow top with the left arm and shake it.",
+    "Shake the plastic bottle firmly after grabbing.",
+    "Lift the smooth green bottle and shake it gently.",
+    "Secure the plastic bottle and perform a shake.",
+    "Pick up the handheld green bottle and shake it well.",
+    "Shake the plastic bottle thoroughly after grabbing it.",
+    "Secure the bottle with white printed label, shake it, and place it down.",
+    "Shake the the handheld green bottle properly after lifting.",
+    "Lift the medium-sized green bottle with the left arm and shake it.",
+    "Pick the medium green bottle with capped neck up with the left arm and shake.",
+    "Pick up the bottle with rounded neck and shake it.",
+    "Use the left arm to lift and shake the bottle with ridges near base.",
+    "Utilize the left arm to hold the plastic bottle and shake it.",
+    "Grab the bottle with rounded neck and give it a shake.",
+    "Shake the plastic bottle after grabbing it.",
+    "Grab the medium-sized green bottle with the left arm and shake.",
+    "Shake the medium green bottle after grabbing it.",
+    "Use the left arm to grab the bottle with ridges near base and shake it.",
+    "Shake the medium green bottle with capped neck after grabbing it.",
+    "Hold and shake the the smooth green bottle carefully.",
+    "Lift up the bottle with rounded neck using the left arm, then shake.",
+    "Grab the medium-sized green bottle firmly, shake it, and put it down.",
+    "Grab the medium green bottle with capped neck carefully and shake.",
+    "Pick the medium green bottle, shake it with the left arm.",
+    "Shake the bottle with white printed label after lifting it.",
+    "With the left arm, pick the medium green bottle with capped neck and shake properly.",
+    "Use the left arm to pick and shake the medium green bottle with capped neck.",
+    "Lift the bottle with white printed label with the left arm and give it a shake.",
+    "Lift the bottle with narrow top and shake it thoroughly.",
+    "Hold the smooth green plastic bottle and shake it properly.",
+    "Hold the green bottle with indented base with the left arm and shake lightly.",
+    "Shake the bottle with ridges near base after holding it firmly.",
+    "Hold the bottle with white printed label steady, then shake it.",
+    "Catch the bottle with rounded neck and shake it instantly."
+  ],
+  "unseen": [
+    "Pick up the green bottle with white label and shake it.",
+    "Pick and shake the the green bottle with white label with the left arm.",
+    "Pick up the green plastic bottle with ridged bottom with the left arm and shake.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Use the left arm to pick the green plastic bottle with ridged bottom.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Grab the green bottle with white label and shake it.",
+    "Grab the green bottle with white label, shake it properly, then set it down.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Shake the green plastic bottle with ridged bottom after picking it with the left arm.",
+    "Pick up the green bottle and shake it.",
+    "Pick and shake the the green bottle with the left arm.",
+    "Pick up the green bottle with the left arm and shake.",
+    "Grab the green bottle and give it a shake.",
+    "Use the left arm to pick the green bottle with white label.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick up the green bottle and shake it.",
+    "Shake the green bottle with white label after picking it with the left arm.",
+    "Pick up the green bottle with white label and shake it.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the left arm.",
+    "Pick up the green bottle with white label with the left arm and shake.",
+    "Grab the green bottle and give it a shake.",
+    "Use the left arm to pick the green bottle with white label.",
+    "Use the left arm to grab the green bottle and shake.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick up the green bottle and shake it.",
+    "Shake the green bottle after picking it with the left arm.",
+    "Pick up the green bottle with white label and shake it.",
+    "Pick and shake the the green bottle with the left arm.",
+    "Pick up the green bottle with the left arm and shake.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Use the left arm to pick the green plastic bottle with ridged bottom.",
+    "Use the left arm to grab the green bottle and shake.",
+    "Grab the green bottle with white label and shake it.",
+    "Grab the green bottle with white label, shake it properly, then set it down.",
+    "Pick up the green bottle with white label and shake it.",
+    "Shake the green bottle after picking it with the left arm.",
+    "Pick up the green bottle and shake it.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the left arm.",
+    "Pick up the green bottle with white label with the left arm and shake.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Use the left arm to pick the green bottle with white label.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Shake the green bottle after picking it with the left arm.",
+    "Pick up the green bottle and shake it.",
+    "Pick and shake the the green bottle with white label with the left arm.",
+    "Pick up the green plastic bottle with ridged bottom with the left arm and shake.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Use the left arm to pick the green plastic bottle with ridged bottom.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Grab the green bottle with white label and shake it.",
+    "Grab the green bottle with white label, shake it properly, then set it down.",
+    "Pick up the green bottle with white label and shake it.",
+    "Shake the green bottle after picking it with the left arm.",
+    "Pick up the green bottle with white label and shake it.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the left arm.",
+    "Pick up the green plastic bottle with ridged bottom with the left arm and shake.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "Use the left arm to pick the green bottle with white label.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Grab the green bottle with white label and shake it.",
+    "Grab the green bottle with white label, shake it properly, then set it down.",
+    "Pick up the green bottle with white label and shake it.",
+    "Shake the green bottle with white label after picking it with the left arm.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Pick and shake the the green bottle with the left arm.",
+    "Pick up the green bottle with white label with the left arm and shake.",
+    "Grab the green bottle and give it a shake.",
+    "Use the left arm to pick the green bottle with white label.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Grab the green bottle and shake it.",
+    "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick up the green bottle with white label and shake it.",
+    "Shake the green bottle with white label after picking it with the left arm.",
+    "Pick up the green bottle with white label and shake it.",
+    "Pick and shake the the green bottle with the left arm.",
+    "Pick up the green bottle with the left arm and shake.",
+    "Grab the green bottle and give it a shake.",
+    "Use the left arm to pick the green bottle with white label.",
+    "Use the left arm to grab the green bottle and shake.",
+    "Grab the green bottle with white label and shake it.",
+    "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick up the green bottle and shake it.",
+    "Shake the green bottle after picking it with the left arm.",
+    "Pick up the green bottle and shake it.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the left arm.",
+    "Pick up the green bottle with the left arm and shake.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "Use the left arm to pick the green plastic bottle with ridged bottom.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Grab the green bottle and shake it.",
+    "Grab the green bottle with white label, shake it properly, then set it down.",
+    "Pick up the green bottle and shake it.",
+    "Shake the green bottle with white label after picking it with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004046.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004046.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a659b91607d174d918df9aed6f247ae4200b196
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004046.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the green bottle with indented base firmly, shake it, and put it down.",
+    "Pick the bottle with white printed label up with the right arm and shake.",
+    "Pick the bottle with narrow top, shake it with the right arm.",
+    "Pick up the green bottle with indented base and shake it.",
+    "Using the right arm, shake the green bottle with indented base and then place it back.",
+    "Pick the green bottle with indented base up using the right arm and shake it.",
+    "Grab the smooth green bottle and move it to shake.",
+    "Grab the plastic bottle carefully and shake.",
+    "Hold the medium green bottle with capped neck, shake it briefly.",
+    "Grab the medium-sized green bottle and shake it steadily.",
+    "Lift the bottle with narrow top and shake it gently.",
+    "Hold the bottle with narrow top with the right arm and shake lightly.",
+    "Lift the green bottle with indented base and shake it thoroughly.",
+    "Secure the smooth green bottle and perform a shake.",
+    "Grasp the medium-sized green bottle with the right arm and shake it.",
+    "Grab the medium green bottle with the right arm and shake.",
+    "Catch the handheld green bottle and shake it instantly.",
+    "Shake the medium-sized green bottle after lifting it.",
+    "Hold the green bottle with indented base steady, then shake it.",
+    "Lift the bottle with ridges near base with the right arm and shake.",
+    "Shake the bottle with ridges near base firmly after grabbing.",
+    "Use the right arm to lift and shake the medium green bottle with capped neck.",
+    "With the right arm, pick the bottle with white printed label and shake properly.",
+    "Use the right arm to grab the medium green bottle with capped neck and shake properly.",
+    "Use the right arm to grab the bottle with rounded neck and shake it.",
+    "Hold the bottle with white printed label and shake it properly.",
+    "Hold and shake the the bottle with narrow top carefully.",
+    "Take the medium green bottle with capped neck using the right arm and give it a shake.",
+    "Lift the plastic bottle with the right arm and shake it.",
+    "Grab the green bottle with indented base and give it a shake.",
+    "Secure the green bottle with indented base, shake it, and place it down.",
+    "Grab the medium-sized green bottle using the right arm, then shake.",
+    "Lift the smooth green bottle with the right arm and give it a shake.",
+    "Shake the the medium-sized green bottle properly after lifting.",
+    "Utilize the right arm to hold the plastic bottle and shake it.",
+    "Shake the smooth green plastic bottle thoroughly after grabbing it.",
+    "Use the right arm to lift and shake the green bottle with indented base.",
+    "Grab and shake the bottle with narrow top using the right arm.",
+    "Use the right arm to hold the plastic bottle and shake it.",
+    "Shake the medium-sized green bottle after grabbing it.",
+    "Shake the green bottle with indented base using the right arm after grabbing.",
+    "Shake the green bottle with indented base after grabbing it.",
+    "Shake the bottle with white printed label after holding it firmly.",
+    "Lift up the bottle with ridges near base using the right arm, then shake.",
+    "Use the right arm to pick and shake the plastic bottle.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Pick the plastic bottle and perform shaking motion.",
+    "Pick up the bottle with rounded neck and shake it well.",
+    "Shake the medium-sized green bottle after grabbing it.",
+    "Grip the bottle with white printed label using the right arm and shake.",
+    "Grab the bottle with white printed label firmly, shake it, and put it down.",
+    "Pick the plastic bottle up with the right arm and shake.",
+    "Pick the medium green bottle with capped neck, shake it with the right arm.",
+    "Pick up the smooth green bottle and shake it.",
+    "Using the right arm, shake the bottle with white printed label and then place it back.",
+    "Pick the medium green bottle up using the right arm and shake it.",
+    "Grab the medium green bottle and move it to shake.",
+    "Grab the bottle with ridges near base carefully and shake.",
+    "Hold the bottle with ridges near base, shake it briefly.",
+    "Grab the plastic bottle and shake it steadily.",
+    "Lift the bottle with white printed label and shake it gently.",
+    "Hold the plastic bottle with the right arm and shake lightly.",
+    "Lift the medium green bottle and shake it thoroughly.",
+    "Secure the medium green bottle and perform a shake.",
+    "Grasp the medium green bottle with the right arm and shake it.",
+    "Grab the smooth green plastic bottle with the right arm and shake.",
+    "Catch the bottle with ridges near base and shake it instantly.",
+    "Shake the medium green bottle with capped neck after lifting it.",
+    "Hold the medium green bottle with capped neck steady, then shake it.",
+    "Lift the smooth green plastic bottle with the right arm and shake.",
+    "Shake the handheld green bottle firmly after grabbing.",
+    "Use the right arm to lift and shake the handheld green bottle.",
+    "With the right arm, pick the bottle with narrow top and shake properly.",
+    "Use the right arm to grab the smooth green plastic bottle and shake properly.",
+    "Use the right arm to grab the green bottle with indented base and shake it.",
+    "Hold the handheld green bottle and shake it properly.",
+    "Hold and shake the the medium green bottle with capped neck carefully.",
+    "Take the plastic bottle using the right arm and give it a shake.",
+    "Lift the green bottle with indented base with the right arm and shake it.",
+    "Grab the smooth green plastic bottle and give it a shake.",
+    "Secure the bottle with rounded neck, shake it, and place it down.",
+    "Grab the bottle with rounded neck using the right arm, then shake.",
+    "Lift the bottle with rounded neck with the right arm and give it a shake.",
+    "Shake the the smooth green plastic bottle properly after lifting.",
+    "Utilize the right arm to hold the bottle with ridges near base and shake it.",
+    "Shake the smooth green plastic bottle thoroughly after grabbing it.",
+    "Use the right arm to lift and shake the medium green bottle with capped neck.",
+    "Grab and shake the green bottle with indented base using the right arm.",
+    "Use the right arm to hold the green bottle with indented base and shake it.",
+    "Shake the bottle with ridges near base after grabbing it.",
+    "Shake the bottle with white printed label using the right arm after grabbing.",
+    "Shake the smooth green bottle after grabbing it.",
+    "Shake the bottle with white printed label after holding it firmly.",
+    "Lift up the bottle with rounded neck using the right arm, then shake.",
+    "Use the right arm to pick and shake the smooth green plastic bottle.",
+    "Use the right arm to lift and shake the bottle with ridges near base.",
+    "Pick the plastic bottle and perform shaking motion.",
+    "Pick up the handheld green bottle and shake it well.",
+    "Shake the smooth green plastic bottle after grabbing it.",
+    "Grip the handheld green bottle using the right arm and shake."
+  ],
+  "unseen": [
+    "Pick up the green plastic bottle with ridged bottom with the right arm and shake.",
+    "Pick up the green bottle with white label and shake it.",
+    "Use the right arm to pick the green plastic bottle with ridged bottom.",
+    "Grab the green bottle with white label, shake it properly, then set it down.",
+    "Pick and shake the the green bottle with white label with the right arm.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Use the right arm to grab the green bottle and shake.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Shake the green plastic bottle with ridged bottom after picking it with the right arm.",
+    "Pick up the green plastic bottle with ridged bottom with the right arm and shake.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Use the right arm to pick the green bottle with white label.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the right arm.",
+    "Grab the green bottle and shake it.",
+    "Grab the green bottle and give it a shake.",
+    "Use the right arm to grab the green bottle with white label and shake.",
+    "Pick up the green bottle with white label and shake it.",
+    "Shake the green plastic bottle with ridged bottom after picking it with the right arm.",
+    "Pick up the green bottle with white label with the right arm and shake.",
+    "Pick up the green bottle and shake it.",
+    "Use the right arm to pick the green bottle.",
+    "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick and shake the the green bottle with the right arm.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Pick up the green bottle with white label and shake it.",
+    "Shake the green bottle after picking it with the right arm.",
+    "Pick up the green bottle with white label with the right arm and shake.",
+    "Pick up the green bottle and shake it.",
+    "Use the right arm to pick the green bottle.",
+    "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick and shake the the green bottle with the right arm.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "Use the right arm to grab the green bottle with white label and shake.",
+    "Pick up the green bottle and shake it.",
+    "Shake the green bottle with white label after picking it with the right arm.",
+    "Pick up the green plastic bottle with ridged bottom with the right arm and shake.",
+    "Pick up the green bottle with white label and shake it.",
+    "Use the right arm to pick the green plastic bottle with ridged bottom.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the right arm.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green bottle and give it a shake.",
+    "Use the right arm to grab the green bottle and shake.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Shake the green bottle with white label after picking it with the right arm.",
+    "Pick up the green plastic bottle with ridged bottom with the right arm and shake.",
+    "Pick up the green bottle and shake it.",
+    "Use the right arm to pick the green plastic bottle with ridged bottom.",
+    "Grab the green bottle with white label, shake it properly, then set it down.",
+    "Pick and shake the the green bottle with the right arm.",
+    "Grab the green bottle and shake it.",
+    "Grab the green bottle and give it a shake.",
+    "Use the right arm to grab the green bottle and shake.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Shake the green bottle with white label after picking it with the right arm.",
+    "Pick up the green bottle with the right arm and shake.",
+    "Pick up the green bottle with white label and shake it.",
+    "Use the right arm to pick the green bottle.",
+    "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the right arm.",
+    "Grab the green bottle with white label and shake it.",
+    "Grab the green bottle and give it a shake.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Shake the green bottle with white label after picking it with the right arm.",
+    "Pick up the green bottle with the right arm and shake.",
+    "Pick up the green bottle and shake it.",
+    "Use the right arm to pick the green bottle.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the right arm.",
+    "Grab the green bottle with white label and shake it.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "Use the right arm to grab the green bottle with white label and shake.",
+    "Pick up the green bottle with white label and shake it.",
+    "Shake the green bottle with white label after picking it with the right arm.",
+    "Pick up the green bottle with the right arm and shake.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Use the right arm to pick the green plastic bottle with ridged bottom.",
+    "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick and shake the the green bottle with the right arm.",
+    "Grab the green bottle and shake it.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Pick up the green bottle with white label and shake it.",
+    "Shake the green plastic bottle with ridged bottom after picking it with the right arm.",
+    "Pick up the green bottle with the right arm and shake.",
+    "Pick up the green bottle and shake it.",
+    "Use the right arm to pick the green plastic bottle with ridged bottom.",
+    "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the right arm.",
+    "Grab the green bottle with white label and shake it.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Use the right arm to grab the green bottle and shake.",
+    "Pick up the green bottle and shake it.",
+    "Shake the green bottle with white label after picking it with the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004186.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004186.json
new file mode 100644
index 0000000000000000000000000000000000000000..0db9e273c256a3d8f0d066b76ce1b9bcfcd573b0
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004186.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold and shake the the orange bottle carefully.",
+    "Use the left arm to pick and shake the bottle with narrow neck.",
+    "Shake the yellow-capped plastic bottle after holding it firmly.",
+    "Secure the bottle with yellow cap, shake it, and place it down.",
+    "Catch the smooth plastic bottle and shake it instantly.",
+    "Use the left arm to hold the medium-sized orange bottle and shake it.",
+    "Lift the yellow-capped plastic bottle with the left arm and shake it.",
+    "Hold the medium-sized orange bottle and shake it properly.",
+    "Utilize the left arm to hold the plastic bottle with sealed yellow cap and shake it.",
+    "Pick the yellow-capped plastic bottle, shake it with the left arm.",
+    "Shake the bottle with narrow neck after lifting it.",
+    "Grab the orange bottle firmly, shake it, and put it down.",
+    "Grab the orange bottle carefully and shake.",
+    "Secure the bottle with printed label and perform a shake.",
+    "Grab and shake the medium-sized orange bottle using the left arm.",
+    "Grasp the smooth plastic bottle with the left arm and shake it.",
+    "With the left arm, pick the bottle with yellow cap and shake properly.",
+    "Use the left arm to grab the smooth plastic bottle and shake properly.",
+    "Hold the plastic bottle steady, then shake it.",
+    "Shake the orange bottle using the left arm after grabbing.",
+    "Shake the the bottle with printed label properly after lifting.",
+    "Pick up the smooth plastic bottle and shake it well.",
+    "Hold the medium-sized orange bottle with the left arm and shake lightly.",
+    "Using the left arm, shake the yellow-capped plastic bottle and then place it back.",
+    "Pick up the bottle for liquids and shake it.",
+    "Take the cylindrical orange bottle with yellow top using the left arm and give it a shake.",
+    "Use the left arm to grab the medium-sized orange bottle and shake it.",
+    "Use the left arm to lift and shake the bottle with yellow cap.",
+    "Pick the plastic bottle up with the left arm and shake.",
+    "Pick the medium-sized orange bottle up using the left arm and shake it.",
+    "Grab the plastic bottle with sealed yellow cap and shake it steadily.",
+    "Lift the plastic bottle with sealed yellow cap and shake it thoroughly.",
+    "Lift the plastic bottle with the left arm and shake.",
+    "Use the left arm to lift and shake the bottle for liquids.",
+    "Shake the yellow-capped plastic bottle after grabbing it.",
+    "Pick the plastic bottle with sealed yellow cap and perform shaking motion.",
+    "Hold the medium-sized orange bottle, shake it briefly.",
+    "Grab the orange bottle using the left arm, then shake.",
+    "Lift the bottle with yellow cap with the left arm and give it a shake.",
+    "Shake the cylindrical orange bottle with yellow top after grabbing it.",
+    "Shake the bottle with printed label thoroughly after grabbing it.",
+    "Grab the cylindrical orange bottle with yellow top and move it to shake.",
+    "Shake the plastic bottle after grabbing it.",
+    "Grip the cylindrical orange bottle with yellow top using the left arm and shake.",
+    "Shake the plastic bottle with sealed yellow cap firmly after grabbing.",
+    "Lift up the bottle with narrow neck using the left arm, then shake.",
+    "Lift the smooth plastic bottle and shake it gently.",
+    "Grab the plastic bottle and give it a shake.",
+    "Grab the orange bottle with the left arm and shake.",
+    "Use the left arm to lift and shake the orange cylindrical bottle.",
+    "Hold and shake the the plastic bottle carefully.",
+    "Use the left arm to pick and shake the bottle for liquids.",
+    "Shake the plastic bottle after holding it firmly.",
+    "Secure the cylindrical orange bottle with yellow top, shake it, and place it down.",
+    "Catch the bottle with printed label and shake it instantly.",
+    "Use the left arm to hold the plastic bottle and shake it.",
+    "Lift the cylindrical orange bottle with yellow top with the left arm and shake it.",
+    "Hold the medium-sized orange bottle and shake it properly.",
+    "Utilize the left arm to hold the plastic bottle with sealed yellow cap and shake it.",
+    "Pick the plastic bottle with sealed yellow cap, shake it with the left arm.",
+    "Shake the smooth plastic bottle after lifting it.",
+    "Grab the bottle for liquids firmly, shake it, and put it down.",
+    "Grab the orange cylindrical bottle carefully and shake.",
+    "Secure the cylindrical orange bottle with yellow top and perform a shake.",
+    "Grab and shake the yellow-capped plastic bottle using the left arm.",
+    "Grasp the bottle with printed label with the left arm and shake it.",
+    "With the left arm, pick the bottle with yellow cap and shake properly.",
+    "Use the left arm to grab the plastic bottle with sealed yellow cap and shake properly.",
+    "Hold the bottle with narrow neck steady, then shake it.",
+    "Shake the bottle with yellow cap using the left arm after grabbing.",
+    "Shake the the cylindrical orange bottle with yellow top properly after lifting.",
+    "Pick up the yellow-capped plastic bottle and shake it well.",
+    "Hold the orange bottle with the left arm and shake lightly.",
+    "Using the left arm, shake the orange bottle and then place it back.",
+    "Pick up the plastic bottle and shake it.",
+    "Take the yellow-capped plastic bottle using the left arm and give it a shake.",
+    "Use the left arm to grab the bottle for liquids and shake it.",
+    "Use the left arm to lift and shake the yellow-capped plastic bottle.",
+    "Pick the bottle with printed label up with the left arm and shake.",
+    "Pick the yellow-capped plastic bottle up using the left arm and shake it.",
+    "Grab the bottle with yellow cap and shake it steadily.",
+    "Lift the plastic bottle and shake it thoroughly.",
+    "Lift the smooth plastic bottle with the left arm and shake.",
+    "Use the left arm to lift and shake the bottle with yellow cap.",
+    "Shake the orange bottle after grabbing it.",
+    "Pick the bottle for liquids and perform shaking motion.",
+    "Hold the bottle with yellow cap, shake it briefly.",
+    "Grab the bottle for liquids using the left arm, then shake.",
+    "Lift the medium-sized orange bottle with the left arm and give it a shake.",
+    "Shake the orange cylindrical bottle after grabbing it.",
+    "Shake the bottle with printed label thoroughly after grabbing it.",
+    "Grab the medium-sized orange bottle and move it to shake.",
+    "Shake the bottle with printed label after grabbing it.",
+    "Grip the plastic bottle with sealed yellow cap using the left arm and shake.",
+    "Shake the orange bottle firmly after grabbing.",
+    "Lift up the medium-sized orange bottle using the left arm, then shake.",
+    "Lift the bottle with yellow cap and shake it gently.",
+    "Grab the bottle with narrow neck and give it a shake.",
+    "Grab the bottle for liquids with the left arm and shake.",
+    "Use the left arm to lift and shake the plastic bottle with sealed yellow cap."
+  ],
+  "unseen": [
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Grab the handheld orange bottle and shake it.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Grab the handheld orange bottle and shake it.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004198.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004198.json
new file mode 100644
index 0000000000000000000000000000000000000000..16c5cebc80b7fba9149edb124dd5eb86ce159521
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004198.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the yellow bottle after lifting it.",
+    "Pick the yellow bottle with a green design up with the left arm and shake.",
+    "Lift up the yellow bottle with a green design using the left arm, then shake.",
+    "Grab the plastic bottle firmly, shake it, and put it down.",
+    "Pick the plastic bottle, shake it with the left arm.",
+    "Pick the bottle with a smooth plastic body up using the left arm and shake it.",
+    "Grip the smooth bottle with rounded edges using the left arm and shake.",
+    "Shake the bottle with green label after grabbing it.",
+    "Utilize the left arm to hold the bottle with green label and shake it.",
+    "Grab the yellow bottle with a green design using the left arm, then shake.",
+    "Pick the yellow container with rounded edges and perform shaking motion.",
+    "Using the left arm, shake the plastic bottle and then place it back.",
+    "Hold the plastic bottle steady, then shake it.",
+    "Grab the medium rectangular yellow bottle and give it a shake.",
+    "Use the left arm to lift and shake the bottle with white cap.",
+    "Shake the medium rectangular yellow bottle after holding it firmly.",
+    "Hold the bottle with white cap with the left arm and shake lightly.",
+    "Shake the yellow bottle after grabbing it.",
+    "Use the left arm to lift and shake the medium rectangular yellow bottle.",
+    "Take the bottle with white cap using the left arm and give it a shake.",
+    "Secure the medium rectangular yellow bottle and perform a shake.",
+    "Lift the yellow bottle with a green design and shake it gently.",
+    "Pick up the yellow plastic bottle with white top and shake it well.",
+    "Pick up the yellow bottle and shake it.",
+    "Grab the plastic bottle with the left arm and shake.",
+    "Lift the rectangular bottle with cylindrical neck with the left arm and shake.",
+    "With the left arm, pick the yellow bottle and shake properly.",
+    "Shake the yellow plastic bottle with white top after grabbing it.",
+    "Use the left arm to hold the smooth bottle with rounded edges and shake it.",
+    "Shake the yellow bottle firmly after grabbing.",
+    "Use the left arm to grab the yellow container with rounded edges and shake it.",
+    "Shake the the plastic bottle properly after lifting.",
+    "Lift the bottle with green label with the left arm and shake it.",
+    "Grab and shake the bottle with green label using the left arm.",
+    "Use the left arm to lift and shake the bottle with green and white labels.",
+    "Shake the rectangular bottle with cylindrical neck thoroughly after grabbing it.",
+    "Grab the yellow container with rounded edges carefully and shake.",
+    "Grab the medium rectangular yellow bottle and shake it steadily.",
+    "Hold and shake the the yellow container with rounded edges carefully.",
+    "Grab the smooth bottle with rounded edges and move it to shake.",
+    "Hold the bottle with a smooth plastic body and shake it properly.",
+    "Lift the yellow plastic bottle with white top and shake it thoroughly.",
+    "Use the left arm to pick and shake the yellow bottle.",
+    "Secure the yellow bottle, shake it, and place it down.",
+    "Use the left arm to grab the bottle with green and white labels and shake properly.",
+    "Catch the bottle with a smooth plastic body and shake it instantly.",
+    "Grasp the bottle with a smooth plastic body with the left arm and shake it.",
+    "Hold the bottle with white cap, shake it briefly.",
+    "Lift the smooth bottle with rounded edges with the left arm and give it a shake.",
+    "Shake the medium rectangular yellow bottle using the left arm after grabbing.",
+    "Shake the smooth bottle with rounded edges after lifting it.",
+    "Pick the bottle with green and white labels up with the left arm and shake.",
+    "Lift up the bottle with green label using the left arm, then shake.",
+    "Grab the yellow plastic bottle with white top firmly, shake it, and put it down.",
+    "Pick the smooth bottle with rounded edges, shake it with the left arm.",
+    "Pick the bottle with a smooth plastic body up using the left arm and shake it.",
+    "Grip the bottle with a smooth plastic body using the left arm and shake.",
+    "Shake the yellow plastic bottle with white top after grabbing it.",
+    "Utilize the left arm to hold the bottle with green and white labels and shake it.",
+    "Grab the yellow plastic bottle with white top using the left arm, then shake.",
+    "Pick the yellow plastic bottle with white top and perform shaking motion.",
+    "Using the left arm, shake the smooth bottle with rounded edges and then place it back.",
+    "Hold the yellow plastic bottle with white top steady, then shake it.",
+    "Grab the yellow bottle and give it a shake.",
+    "Use the left arm to lift and shake the yellow bottle.",
+    "Shake the yellow plastic bottle with white top after holding it firmly.",
+    "Hold the plastic bottle with the left arm and shake lightly.",
+    "Shake the bottle with green label after grabbing it.",
+    "Use the left arm to lift and shake the yellow bottle with a green design.",
+    "Take the yellow container with rounded edges using the left arm and give it a shake.",
+    "Secure the yellow container with rounded edges and perform a shake.",
+    "Lift the yellow bottle and shake it gently.",
+    "Pick up the yellow bottle and shake it well.",
+    "Pick up the medium rectangular yellow bottle and shake it.",
+    "Grab the smooth bottle with rounded edges with the left arm and shake.",
+    "Lift the yellow container with rounded edges with the left arm and shake.",
+    "With the left arm, pick the medium rectangular yellow bottle and shake properly.",
+    "Shake the bottle with green label after grabbing it.",
+    "Use the left arm to hold the bottle with green label and shake it.",
+    "Shake the yellow container with rounded edges firmly after grabbing.",
+    "Use the left arm to grab the smooth bottle with rounded edges and shake it.",
+    "Shake the the yellow plastic bottle with white top properly after lifting.",
+    "Lift the bottle with a smooth plastic body with the left arm and shake it.",
+    "Grab and shake the bottle with white cap using the left arm.",
+    "Use the left arm to lift and shake the bottle with white cap.",
+    "Shake the smooth bottle with rounded edges thoroughly after grabbing it.",
+    "Grab the smooth bottle with rounded edges carefully and shake.",
+    "Grab the bottle with white cap and shake it steadily.",
+    "Hold and shake the the plastic bottle carefully.",
+    "Grab the plastic bottle and move it to shake.",
+    "Hold the yellow plastic bottle with white top and shake it properly.",
+    "Lift the rectangular bottle with cylindrical neck and shake it thoroughly.",
+    "Use the left arm to pick and shake the yellow bottle with a green design.",
+    "Secure the bottle with green label, shake it, and place it down.",
+    "Use the left arm to grab the smooth bottle with rounded edges and shake properly.",
+    "Catch the yellow bottle with a green design and shake it instantly.",
+    "Grasp the rectangular bottle with cylindrical neck with the left arm and shake it.",
+    "Hold the bottle with white cap, shake it briefly.",
+    "Lift the yellow bottle with a green design with the left arm and give it a shake.",
+    "Shake the bottle with green and white labels using the left arm after grabbing."
+  ],
+  "unseen": [
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the left arm.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Pick up the hand-sized yellow plastic bottle with the left arm and shake.",
+    "Use the left arm to pick the yellow rectangular bottle.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the left arm.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Use the left arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Pick up the yellow bottle for liquid storage with the left arm and shake.",
+    "Use the left arm to pick the yellow rectangular bottle.",
+    "Pick and shake the the yellow bottle for liquid storage with the left arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the left arm.",
+    "Use the left arm to grab the yellow rectangular bottle and shake.",
+    "Pick up the yellow rectangular bottle with the left arm and shake.",
+    "Use the left arm to pick the yellow bottle for liquid storage.",
+    "Pick and shake the the yellow bottle for liquid storage with the left arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Pick up the yellow bottle for liquid storage with the left arm and shake.",
+    "Use the left arm to pick the yellow bottle for liquid storage.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the left arm.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Pick up the hand-sized yellow plastic bottle with the left arm and shake.",
+    "Use the left arm to pick the yellow bottle for liquid storage.",
+    "Pick and shake the the yellow rectangular bottle with the left arm.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the left arm.",
+    "Use the left arm to grab the yellow rectangular bottle and shake.",
+    "Pick up the yellow bottle for liquid storage with the left arm and shake.",
+    "Use the left arm to pick the yellow rectangular bottle.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the left arm.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Pick up the hand-sized yellow plastic bottle with the left arm and shake.",
+    "Use the left arm to pick the yellow bottle for liquid storage.",
+    "Pick and shake the the yellow bottle for liquid storage with the left arm.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Use the left arm to grab the yellow rectangular bottle and shake.",
+    "Pick up the hand-sized yellow plastic bottle with the left arm and shake.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the left arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Shake the yellow rectangular bottle after picking it with the left arm.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Pick up the yellow rectangular bottle with the left arm and shake.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "Pick and shake the the yellow bottle for liquid storage with the left arm.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Shake the yellow rectangular bottle after picking it with the left arm.",
+    "Use the left arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Pick up the hand-sized yellow plastic bottle with the left arm and shake.",
+    "Use the left arm to pick the yellow rectangular bottle.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the left arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow bottle for liquid storage and give it a shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004300.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004300.json
new file mode 100644
index 0000000000000000000000000000000000000000..09f4ff347b63d6d7b6473053975235b36850b95e
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004300.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the brown bottle with white printed label and shake it steadily.",
+    "Hold the bottle with green cap and shake it properly.",
+    "Hold and shake the the small drink bottle with logo carefully.",
+    "Hold the smooth plastic bottle for beverages with the right arm and shake lightly.",
+    "Shake the brown bottle after lifting it.",
+    "Lift the brown bottle with green screw-on cap and shake it gently.",
+    "Use the right arm to lift and shake the cylindrical bottle with white label.",
+    "Lift the green-capped bottle with the right arm and shake it.",
+    "Grab the green-capped bottle and move it to shake.",
+    "Lift the small brown plastic bottle and shake it thoroughly.",
+    "Shake the smooth plastic bottle for beverages after grabbing it.",
+    "Grab the brown bottle with green screw-on cap using the right arm, then shake.",
+    "Hold the brown bottle with white printed label, shake it briefly.",
+    "Grab and shake the brown bottle with white printed label using the right arm.",
+    "Grab the brown bottle and give it a shake.",
+    "Use the right arm to lift and shake the bottle with green cap.",
+    "Grip the small drink bottle with logo using the right arm and shake.",
+    "Take the bottle with tapered cylindrical shape using the right arm and give it a shake.",
+    "Shake the small brown plastic bottle after holding it firmly.",
+    "Shake the green-capped bottle thoroughly after grabbing it.",
+    "Pick the brown bottle with green screw-on cap and perform shaking motion.",
+    "With the right arm, pick the green-capped bottle and shake properly.",
+    "Secure the green-capped bottle, shake it, and place it down.",
+    "Lift up the cylindrical bottle with white label using the right arm, then shake.",
+    "Grasp the brown bottle with the right arm and shake it.",
+    "Secure the brown bottle with green screw-on cap and perform a shake.",
+    "Catch the cylindrical bottle with white label and shake it instantly.",
+    "Shake the small drink bottle with logo using the right arm after grabbing.",
+    "Lift the bottle with green cap with the right arm and give it a shake.",
+    "Use the right arm to lift and shake the green-capped bottle.",
+    "Use the right arm to hold the green-capped bottle and shake it.",
+    "Shake the smooth plastic bottle for beverages after grabbing it.",
+    "Using the right arm, shake the plastic bottle with ribbed pattern and then place it back.",
+    "Pick the hand-sized bottle with grooves up using the right arm and shake it.",
+    "Pick the brown bottle with green screw-on cap, shake it with the right arm.",
+    "Utilize the right arm to hold the smooth plastic bottle for beverages and shake it.",
+    "Use the right arm to grab the cylindrical bottle with white label and shake properly.",
+    "Shake the green-capped bottle after grabbing it.",
+    "Pick up the cylindrical bottle with white label and shake it well.",
+    "Grab the plastic bottle with ribbed pattern firmly, shake it, and put it down.",
+    "Lift the small drink bottle with logo with the right arm and shake.",
+    "Use the right arm to grab the brown bottle and shake it.",
+    "Use the right arm to pick and shake the smooth plastic bottle for beverages.",
+    "Hold the plastic bottle with ribbed pattern steady, then shake it.",
+    "Shake the small brown plastic bottle firmly after grabbing.",
+    "Shake the the brown bottle with white printed label properly after lifting.",
+    "Pick up the hand-sized bottle with grooves and shake it.",
+    "Grab the green-capped bottle carefully and shake.",
+    "Pick the brown bottle with green screw-on cap up with the right arm and shake.",
+    "Grab the cylindrical bottle with white label with the right arm and shake.",
+    "Grab the cylindrical bottle with white label and shake it steadily.",
+    "Hold the brown bottle with white printed label and shake it properly.",
+    "Hold and shake the the brown bottle with green screw-on cap carefully.",
+    "Hold the smooth plastic bottle for beverages with the right arm and shake lightly.",
+    "Shake the smooth plastic bottle for beverages after lifting it.",
+    "Lift the green-capped bottle and shake it gently.",
+    "Use the right arm to lift and shake the brown bottle.",
+    "Lift the green-capped bottle with the right arm and shake it.",
+    "Grab the plastic bottle with ribbed pattern and move it to shake.",
+    "Lift the brown bottle and shake it thoroughly.",
+    "Shake the hand-sized bottle with grooves after grabbing it.",
+    "Grab the brown bottle using the right arm, then shake.",
+    "Hold the plastic bottle with ribbed pattern, shake it briefly.",
+    "Grab and shake the small brown plastic bottle using the right arm.",
+    "Grab the bottle with tapered cylindrical shape and give it a shake.",
+    "Use the right arm to lift and shake the small brown plastic bottle.",
+    "Grip the plastic bottle with ribbed pattern using the right arm and shake.",
+    "Take the hand-sized bottle with grooves using the right arm and give it a shake.",
+    "Shake the brown bottle with green screw-on cap after holding it firmly.",
+    "Shake the bottle with tapered cylindrical shape thoroughly after grabbing it.",
+    "Pick the small brown plastic bottle and perform shaking motion.",
+    "With the right arm, pick the green-capped bottle and shake properly.",
+    "Secure the cylindrical bottle with white label, shake it, and place it down.",
+    "Lift up the hand-sized bottle with grooves using the right arm, then shake.",
+    "Grasp the brown bottle with white printed label with the right arm and shake it.",
+    "Secure the small brown plastic bottle and perform a shake.",
+    "Catch the smooth plastic bottle for beverages and shake it instantly.",
+    "Shake the brown bottle with white printed label using the right arm after grabbing.",
+    "Lift the small drink bottle with logo with the right arm and give it a shake.",
+    "Use the right arm to lift and shake the brown bottle with white printed label.",
+    "Use the right arm to hold the cylindrical bottle with white label and shake it.",
+    "Shake the green-capped bottle after grabbing it.",
+    "Using the right arm, shake the bottle with tapered cylindrical shape and then place it back.",
+    "Pick the small brown plastic bottle up using the right arm and shake it.",
+    "Pick the plastic bottle with ribbed pattern, shake it with the right arm.",
+    "Utilize the right arm to hold the brown bottle and shake it.",
+    "Use the right arm to grab the brown bottle with green screw-on cap and shake properly.",
+    "Shake the plastic bottle with ribbed pattern after grabbing it.",
+    "Pick up the bottle with green cap and shake it well.",
+    "Grab the cylindrical bottle with white label firmly, shake it, and put it down.",
+    "Lift the green-capped bottle with the right arm and shake.",
+    "Use the right arm to grab the hand-sized bottle with grooves and shake it.",
+    "Use the right arm to pick and shake the small drink bottle with logo.",
+    "Hold the cylindrical bottle with white label steady, then shake it.",
+    "Shake the hand-sized bottle with grooves firmly after grabbing.",
+    "Shake the the small brown plastic bottle properly after lifting.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the cylindrical bottle with white label carefully and shake.",
+    "Pick the bottle with green cap up with the right arm and shake.",
+    "Grab the brown bottle with green screw-on cap with the right arm and shake."
+  ],
+  "unseen": [
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Pick up the plastic Starbucks bottle with the right arm and shake.",
+    "Use the right arm to grab the bottle with coffee-colored body and shake.",
+    "Pick and shake the the plastic Starbucks bottle with the right arm.",
+    "Use the right arm to pick the bottle with coffee-colored body.",
+    "Shake the bottle with Starbucks logo on label after picking it with the right arm.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Grab the plastic Starbucks bottle and shake it.",
+    "Grab the bottle with Starbucks logo on label and give it a shake.",
+    "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Pick up the bottle with coffee-colored body with the right arm and shake.",
+    "Use the right arm to grab the plastic Starbucks bottle and shake.",
+    "Pick and shake the the plastic Starbucks bottle with the right arm.",
+    "Use the right arm to pick the bottle with Starbucks logo on label.",
+    "Shake the bottle with Starbucks logo on label after picking it with the right arm.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Grab the bottle with Starbucks logo on label and shake it.",
+    "Grab the plastic Starbucks bottle and give it a shake.",
+    "Grab the bottle with coffee-colored body, shake it properly, then set it down.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Pick up the bottle with Starbucks logo on label with the right arm and shake.",
+    "Use the right arm to grab the plastic Starbucks bottle and shake.",
+    "Pick and shake the the plastic Starbucks bottle with the right arm.",
+    "Use the right arm to pick the bottle with Starbucks logo on label.",
+    "Shake the plastic Starbucks bottle after picking it with the right arm.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Grab the plastic Starbucks bottle and shake it.",
+    "Grab the bottle with Starbucks logo on label and give it a shake.",
+    "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Pick up the bottle with coffee-colored body with the right arm and shake.",
+    "Use the right arm to grab the bottle with coffee-colored body and shake.",
+    "Pick and shake the the bottle with Starbucks logo on label with the right arm.",
+    "Use the right arm to pick the bottle with Starbucks logo on label.",
+    "Shake the bottle with Starbucks logo on label after picking it with the right arm.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Grab the bottle with coffee-colored body and shake it.",
+    "Grab the bottle with Starbucks logo on label and give it a shake.",
+    "Grab the bottle with coffee-colored body, shake it properly, then set it down.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Pick up the bottle with coffee-colored body with the right arm and shake.",
+    "Use the right arm to grab the bottle with Starbucks logo on label and shake.",
+    "Pick and shake the the plastic Starbucks bottle with the right arm.",
+    "Use the right arm to pick the bottle with Starbucks logo on label.",
+    "Shake the bottle with Starbucks logo on label after picking it with the right arm.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Grab the bottle with Starbucks logo on label and shake it.",
+    "Grab the bottle with coffee-colored body and give it a shake.",
+    "Grab the plastic Starbucks bottle, shake it properly, then set it down.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Pick up the bottle with coffee-colored body with the right arm and shake.",
+    "Use the right arm to grab the bottle with Starbucks logo on label and shake.",
+    "Pick and shake the the plastic Starbucks bottle with the right arm.",
+    "Use the right arm to pick the plastic Starbucks bottle.",
+    "Shake the bottle with coffee-colored body after picking it with the right arm.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Grab the plastic Starbucks bottle and shake it.",
+    "Grab the bottle with Starbucks logo on label and give it a shake.",
+    "Grab the bottle with coffee-colored body, shake it properly, then set it down.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Pick up the bottle with Starbucks logo on label with the right arm and shake.",
+    "Use the right arm to grab the bottle with Starbucks logo on label and shake.",
+    "Pick and shake the the plastic Starbucks bottle with the right arm.",
+    "Use the right arm to pick the bottle with Starbucks logo on label.",
+    "Shake the plastic Starbucks bottle after picking it with the right arm.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Grab the bottle with Starbucks logo on label and shake it.",
+    "Grab the bottle with coffee-colored body and give it a shake.",
+    "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Pick up the bottle with Starbucks logo on label with the right arm and shake.",
+    "Use the right arm to grab the plastic Starbucks bottle and shake.",
+    "Pick and shake the the bottle with coffee-colored body with the right arm.",
+    "Use the right arm to pick the bottle with coffee-colored body.",
+    "Shake the bottle with coffee-colored body after picking it with the right arm.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Grab the plastic Starbucks bottle and shake it.",
+    "Grab the bottle with coffee-colored body and give it a shake.",
+    "Grab the plastic Starbucks bottle, shake it properly, then set it down.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Pick up the plastic Starbucks bottle with the right arm and shake.",
+    "Use the right arm to grab the bottle with coffee-colored body and shake.",
+    "Pick and shake the the bottle with Starbucks logo on label with the right arm.",
+    "Use the right arm to pick the bottle with Starbucks logo on label.",
+    "Shake the bottle with coffee-colored body after picking it with the right arm.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Grab the plastic Starbucks bottle and shake it.",
+    "Grab the bottle with Starbucks logo on label and give it a shake.",
+    "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Pick up the plastic Starbucks bottle with the right arm and shake.",
+    "Use the right arm to grab the plastic Starbucks bottle and shake.",
+    "Pick and shake the the plastic Starbucks bottle with the right arm.",
+    "Use the right arm to pick the bottle with Starbucks logo on label.",
+    "Shake the plastic Starbucks bottle after picking it with the right arm.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Grab the bottle with Starbucks logo on label and shake it.",
+    "Grab the bottle with Starbucks logo on label and give it a shake.",
+    "Grab the plastic Starbucks bottle, shake it properly, then set it down."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004323.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004323.json
new file mode 100644
index 0000000000000000000000000000000000000000..462b7000430d829ec5f7406ec858e458f8c52c15
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004323.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the rectangular brown body with white top and shake it properly.",
+    "Use the left arm to lift and shake the dark brown bottle with a squared body.",
+    "Shake the smooth plastic bottle with white cap using the left arm after grabbing.",
+    "Secure the medium-sized brown plastic bottle, shake it, and place it down.",
+    "Take the brown bottle using the left arm and give it a shake.",
+    "Hold and shake the the medium bottle with glossy surface carefully.",
+    "Grip the rectangular-shaped bottle with round cap using the left arm and shake.",
+    "Lift the plastic bottle and shake it thoroughly.",
+    "Use the left arm to pick and shake the bottle with flat sides and logo.",
+    "Shake the medium bottle with glossy surface after grabbing it.",
+    "Use the left arm to hold the smooth plastic bottle with white cap and shake it.",
+    "Grab the plastic bottle and shake it steadily.",
+    "Shake the dark brown bottle with a squared body after grabbing it.",
+    "Use the left arm to lift and shake the plastic bottle.",
+    "Shake the rectangular brown body with white top after holding it firmly.",
+    "Grab the rectangular-shaped bottle with round cap and give it a shake.",
+    "Grab the brown bottle with rounded rectangular shape using the left arm, then shake.",
+    "Lift up the brown bottle with rounded rectangular shape using the left arm, then shake.",
+    "Use the left arm to grab the brown bottle and shake properly.",
+    "Lift the smooth plastic bottle with white cap with the left arm and shake.",
+    "Pick the bottle with green cap up with the left arm and shake.",
+    "Catch the bottle with green cap and shake it instantly.",
+    "Pick the plastic bottle and perform shaking motion.",
+    "Hold the brown bottle steady, then shake it.",
+    "Grab the medium-sized brown plastic bottle firmly, shake it, and put it down.",
+    "Pick the rectangular-shaped bottle with round cap, shake it with the left arm.",
+    "Utilize the left arm to hold the brown bottle with rounded rectangular shape and shake it.",
+    "Pick the brown bottle up using the left arm and shake it.",
+    "Hold the medium bottle with glossy surface, shake it briefly.",
+    "Shake the smooth brown bottle with green label firmly after grabbing.",
+    "Shake the brown bottle with rounded rectangular shape after grabbing it.",
+    "Pick up the rectangular brown body with white top and shake it well.",
+    "Hold the bottle with flat sides and logo with the left arm and shake lightly.",
+    "Use the left arm to grab the rectangular brown body with white top and shake it.",
+    "Lift the smooth brown bottle with green label with the left arm and shake it.",
+    "Secure the smooth brown bottle with green label and perform a shake.",
+    "Grab and shake the bottle with green cap using the left arm.",
+    "Grab the rectangular brown body with white top with the left arm and shake.",
+    "Shake the rectangular brown body with white top thoroughly after grabbing it.",
+    "Shake the the smooth brown bottle with green label properly after lifting.",
+    "Lift the plastic bottle with the left arm and give it a shake.",
+    "Pick up the dark brown bottle with a squared body and shake it.",
+    "Using the left arm, shake the brown bottle and then place it back.",
+    "Shake the bottle with green cap after lifting it.",
+    "Grasp the smooth brown bottle with green label with the left arm and shake it.",
+    "Lift the rectangular-shaped bottle with round cap and shake it gently.",
+    "With the left arm, pick the rectangular brown body with white top and shake properly.",
+    "Use the left arm to lift and shake the bottle with flat sides and logo.",
+    "Grab the dark brown bottle with a squared body and move it to shake.",
+    "Grab the bottle with flat sides and logo carefully and shake.",
+    "Hold the dark brown bottle with a squared body and shake it properly.",
+    "Use the left arm to lift and shake the medium-sized brown plastic bottle.",
+    "Shake the medium-sized brown plastic bottle using the left arm after grabbing.",
+    "Secure the brown bottle, shake it, and place it down.",
+    "Take the bottle with flat sides and logo using the left arm and give it a shake.",
+    "Hold and shake the the smooth plastic bottle with white cap carefully.",
+    "Grip the plastic bottle using the left arm and shake.",
+    "Lift the dark brown bottle with a squared body and shake it thoroughly.",
+    "Use the left arm to pick and shake the plastic bottle.",
+    "Shake the rectangular brown body with white top after grabbing it.",
+    "Use the left arm to hold the brown bottle and shake it.",
+    "Grab the bottle with flat sides and logo and shake it steadily.",
+    "Shake the dark brown bottle with a squared body after grabbing it.",
+    "Use the left arm to lift and shake the smooth brown bottle with green label.",
+    "Shake the plastic bottle after holding it firmly.",
+    "Grab the plastic bottle and give it a shake.",
+    "Grab the brown bottle with rounded rectangular shape using the left arm, then shake.",
+    "Lift up the rectangular-shaped bottle with round cap using the left arm, then shake.",
+    "Use the left arm to grab the smooth brown bottle with green label and shake properly.",
+    "Lift the medium bottle with glossy surface with the left arm and shake.",
+    "Pick the medium bottle with glossy surface up with the left arm and shake.",
+    "Catch the brown bottle and shake it instantly.",
+    "Pick the dark brown bottle with a squared body and perform shaking motion.",
+    "Hold the rectangular-shaped bottle with round cap steady, then shake it.",
+    "Grab the dark brown bottle with a squared body firmly, shake it, and put it down.",
+    "Pick the rectangular brown body with white top, shake it with the left arm.",
+    "Utilize the left arm to hold the plastic bottle and shake it.",
+    "Pick the rectangular brown body with white top up using the left arm and shake it.",
+    "Hold the plastic bottle, shake it briefly.",
+    "Shake the brown bottle firmly after grabbing.",
+    "Shake the bottle with flat sides and logo after grabbing it.",
+    "Pick up the smooth brown bottle with green label and shake it well.",
+    "Hold the smooth brown bottle with green label with the left arm and shake lightly.",
+    "Use the left arm to grab the medium bottle with glossy surface and shake it.",
+    "Lift the rectangular brown body with white top with the left arm and shake it.",
+    "Secure the dark brown bottle with a squared body and perform a shake.",
+    "Grab and shake the smooth brown bottle with green label using the left arm.",
+    "Grab the bottle with green cap with the left arm and shake.",
+    "Shake the dark brown bottle with a squared body thoroughly after grabbing it.",
+    "Shake the the brown bottle with rounded rectangular shape properly after lifting.",
+    "Lift the medium-sized brown plastic bottle with the left arm and give it a shake.",
+    "Pick up the dark brown bottle with a squared body and shake it.",
+    "Using the left arm, shake the rectangular-shaped bottle with round cap and then place it back.",
+    "Shake the dark brown bottle with a squared body after lifting it.",
+    "Grasp the medium bottle with glossy surface with the left arm and shake it.",
+    "Lift the bottle with green cap and shake it gently.",
+    "With the left arm, pick the dark brown bottle with a squared body and shake properly.",
+    "Use the left arm to lift and shake the dark brown bottle with a squared body.",
+    "Grab the bottle with flat sides and logo and move it to shake.",
+    "Grab the medium-sized brown plastic bottle carefully and shake."
+  ],
+  "unseen": [
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the bottle with green label and white lid and give it a shake.",
+    "Use the left arm to pick the bottle with green label and white lid.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Pick and shake the the bottle with green label and white lid with the left arm.",
+    "Pick up the liquid container dark brown plastic with the left arm and shake.",
+    "Use the left arm to grab the liquid container dark brown plastic and shake.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Grab the medium-sized plastic bottle with capped top and give it a shake.",
+    "Use the left arm to pick the medium-sized plastic bottle with capped top.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Pick and shake the the bottle with green label and white lid with the left arm.",
+    "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.",
+    "Use the left arm to grab the bottle with green label and white lid and shake.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Use the left arm to pick the medium-sized plastic bottle with capped top.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Pick and shake the the liquid container dark brown plastic with the left arm.",
+    "Pick up the liquid container dark brown plastic with the left arm and shake.",
+    "Use the left arm to grab the bottle with green label and white lid and shake.",
+    "Shake the liquid container dark brown plastic after picking it with the left arm.",
+    "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Use the left arm to pick the bottle with green label and white lid.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Pick and shake the the liquid container dark brown plastic with the left arm.",
+    "Pick up the liquid container dark brown plastic with the left arm and shake.",
+    "Use the left arm to grab the liquid container dark brown plastic and shake.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.",
+    "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Use the left arm to pick the medium-sized plastic bottle with capped top.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Pick and shake the the liquid container dark brown plastic with the left arm.",
+    "Pick up the liquid container dark brown plastic with the left arm and shake.",
+    "Use the left arm to grab the liquid container dark brown plastic and shake.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the medium-sized plastic bottle with capped top and give it a shake.",
+    "Use the left arm to pick the bottle with green label and white lid.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Pick and shake the the bottle with green label and white lid with the left arm.",
+    "Pick up the liquid container dark brown plastic with the left arm and shake.",
+    "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Use the left arm to pick the bottle with green label and white lid.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.",
+    "Pick up the liquid container dark brown plastic with the left arm and shake.",
+    "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Grab the bottle with green label and white lid and give it a shake.",
+    "Use the left arm to pick the medium-sized plastic bottle with capped top.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Pick and shake the the bottle with green label and white lid with the left arm.",
+    "Pick up the bottle with green label and white lid with the left arm and shake.",
+    "Use the left arm to grab the liquid container dark brown plastic and shake.",
+    "Shake the bottle with green label and white lid after picking it with the left arm.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Grab the medium-sized plastic bottle with capped top and give it a shake.",
+    "Use the left arm to pick the bottle with green label and white lid.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Pick and shake the the bottle with green label and white lid with the left arm.",
+    "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.",
+    "Use the left arm to grab the bottle with green label and white lid and shake.",
+    "Shake the liquid container dark brown plastic after picking it with the left arm.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Use the left arm to pick the bottle with green label and white lid.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.",
+    "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.",
+    "Use the left arm to grab the bottle with green label and white lid and shake.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Grab the bottle with green label and white lid and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005013.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005013.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0eb2791e357dae3a8d5506f7d84867993b031c0
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005013.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the small curved plastic bottle and shake it properly.",
+    "Shake the bottle holding liquid after lifting it.",
+    "Shake the brown bottle using the left arm after grabbing.",
+    "Use the left arm to hold the bottle with white screw cap and shake it.",
+    "Use the left arm to grab the bottle with black label and shake it.",
+    "Hold the smooth brown and white patterned bottle with the left arm and shake lightly.",
+    "Pick the bottle holding liquid and perform shaking motion.",
+    "Catch the bottle holding liquid and shake it instantly.",
+    "Secure the smooth brown and white patterned bottle and perform a shake.",
+    "Use the left arm to pick and shake the bottle with brown and white patterns.",
+    "Grab the small bottle with decorative design using the left arm, then shake.",
+    "Shake the bottle with white screw cap after grabbing it.",
+    "Lift the bottle with brown and white patterns and shake it thoroughly.",
+    "Grab the small curved plastic bottle and give it a shake.",
+    "Pick the curved bottle with white top up using the left arm and shake it.",
+    "Using the left arm, shake the curved bottle with white top and then place it back.",
+    "Hold and shake the the bottle holding liquid carefully.",
+    "Grab the small bottle with decorative design with the left arm and shake.",
+    "Pick the smooth brown and white patterned bottle up with the left arm and shake.",
+    "Hold the small curved plastic bottle steady, then shake it.",
+    "Shake the small curved plastic bottle firmly after grabbing.",
+    "Shake the bottle holding liquid after holding it firmly.",
+    "Hold the hand-sized plastic bottle, shake it briefly.",
+    "Use the left arm to lift and shake the smooth brown and white patterned bottle.",
+    "Grip the brown bottle using the left arm and shake.",
+    "Grab the small curved plastic bottle and move it to shake.",
+    "Lift the small bottle with decorative design with the left arm and give it a shake.",
+    "Lift the bottle with brown and white patterns with the left arm and shake.",
+    "Lift the small curved plastic bottle and shake it gently.",
+    "Lift the white-capped bottle with the left arm and shake it.",
+    "Pick up the smooth brown and white patterned bottle and shake it well.",
+    "With the left arm, pick the plastic bottle and shake properly.",
+    "Shake the hand-sized plastic bottle after grabbing it.",
+    "Take the bottle with white screw cap using the left arm and give it a shake.",
+    "Grab the bottle with brown and white patterns firmly, shake it, and put it down.",
+    "Shake the bottle with black label thoroughly after grabbing it.",
+    "Grab and shake the plastic bottle using the left arm.",
+    "Shake the brown bottle after grabbing it.",
+    "Use the left arm to lift and shake the small bottle with decorative design.",
+    "Use the left arm to grab the brown bottle and shake properly.",
+    "Grab the plastic bottle carefully and shake.",
+    "Lift up the bottle with brown and white patterns using the left arm, then shake.",
+    "Use the left arm to lift and shake the curved bottle with white top.",
+    "Pick the curved bottle with white top, shake it with the left arm.",
+    "Utilize the left arm to hold the smooth brown and white patterned bottle and shake it.",
+    "Pick up the smooth brown and white patterned bottle and shake it.",
+    "Secure the small bottle with decorative design, shake it, and place it down.",
+    "Shake the the bottle with black label properly after lifting.",
+    "Grasp the small bottle with decorative design with the left arm and shake it.",
+    "Grab the plastic bottle and shake it steadily.",
+    "Hold the bottle with brown and white patterns and shake it properly.",
+    "Shake the hand-sized plastic bottle after lifting it.",
+    "Shake the bottle with black label using the left arm after grabbing.",
+    "Use the left arm to hold the small bottle with decorative design and shake it.",
+    "Use the left arm to grab the plastic bottle and shake it.",
+    "Hold the plastic bottle with the left arm and shake lightly.",
+    "Pick the bottle holding liquid and perform shaking motion.",
+    "Catch the bottle with black label and shake it instantly.",
+    "Secure the curved bottle with white top and perform a shake.",
+    "Use the left arm to pick and shake the bottle with brown and white patterns.",
+    "Grab the bottle with black label using the left arm, then shake.",
+    "Shake the curved bottle with white top after grabbing it.",
+    "Lift the small curved plastic bottle and shake it thoroughly.",
+    "Grab the bottle with black label and give it a shake.",
+    "Pick the bottle with white screw cap up using the left arm and shake it.",
+    "Using the left arm, shake the bottle with white screw cap and then place it back.",
+    "Hold and shake the the brown bottle carefully.",
+    "Grab the smooth brown and white patterned bottle with the left arm and shake.",
+    "Pick the small bottle with decorative design up with the left arm and shake.",
+    "Hold the brown bottle steady, then shake it.",
+    "Shake the white-capped bottle firmly after grabbing.",
+    "Shake the hand-sized plastic bottle after holding it firmly.",
+    "Hold the bottle with white screw cap, shake it briefly.",
+    "Use the left arm to lift and shake the smooth brown and white patterned bottle.",
+    "Grip the bottle with brown and white patterns using the left arm and shake.",
+    "Grab the bottle holding liquid and move it to shake.",
+    "Lift the smooth brown and white patterned bottle with the left arm and give it a shake.",
+    "Lift the bottle holding liquid with the left arm and shake.",
+    "Lift the small curved plastic bottle and shake it gently.",
+    "Lift the small curved plastic bottle with the left arm and shake it.",
+    "Pick up the white-capped bottle and shake it well.",
+    "With the left arm, pick the smooth brown and white patterned bottle and shake properly.",
+    "Shake the smooth brown and white patterned bottle after grabbing it.",
+    "Take the bottle with black label using the left arm and give it a shake.",
+    "Grab the bottle with black label firmly, shake it, and put it down.",
+    "Shake the white-capped bottle thoroughly after grabbing it.",
+    "Grab and shake the curved bottle with white top using the left arm.",
+    "Shake the small curved plastic bottle after grabbing it.",
+    "Use the left arm to lift and shake the small bottle with decorative design.",
+    "Use the left arm to grab the bottle with brown and white patterns and shake properly.",
+    "Grab the small bottle with decorative design carefully and shake.",
+    "Lift up the curved bottle with white top using the left arm, then shake.",
+    "Use the left arm to lift and shake the bottle with brown and white patterns.",
+    "Pick the curved bottle with white top, shake it with the left arm.",
+    "Utilize the left arm to hold the hand-sized plastic bottle and shake it.",
+    "Pick up the bottle holding liquid and shake it.",
+    "Secure the curved bottle with white top, shake it, and place it down.",
+    "Shake the the bottle with brown and white patterns properly after lifting.",
+    "Grasp the small bottle with decorative design with the left arm and shake it.",
+    "Grab the smooth brown and white patterned bottle and shake it steadily."
+  ],
+  "unseen": [
+    "Shake the brown bottle with glossy swirls after picking it with the left arm.",
+    "Grab the brown bottle with glossy swirls and shake it.",
+    "Pick up the cylindrical bottle with curved sides with the left arm and shake.",
+    "Grab the cylindrical bottle with curved sides and give it a shake.",
+    "Pick up the cylindrical bottle with curved sides and shake it.",
+    "Pick and shake the the brown bottle with glossy swirls with the left arm.",
+    "Pick up the glossy brown bottle and shake it.",
+    "Grab the glossy brown bottle, shake it properly, then set it down.",
+    "Use the left arm to pick the cylindrical bottle with curved sides.",
+    "Use the left arm to grab the glossy brown bottle and shake.",
+    "Shake the brown bottle with glossy swirls after picking it with the left arm.",
+    "Grab the brown bottle with glossy swirls and shake it.",
+    "Pick up the cylindrical bottle with curved sides with the left arm and shake.",
+    "Grab the glossy brown bottle and give it a shake.",
+    "Pick up the brown bottle with glossy swirls and shake it.",
+    "Pick and shake the the cylindrical bottle with curved sides with the left arm.",
+    "Pick up the glossy brown bottle and shake it.",
+    "Grab the glossy brown bottle, shake it properly, then set it down.",
+    "Use the left arm to pick the cylindrical bottle with curved sides.",
+    "Use the left arm to grab the cylindrical bottle with curved sides and shake.",
+    "Shake the cylindrical bottle with curved sides after picking it with the left arm.",
+    "Grab the cylindrical bottle with curved sides and shake it.",
+    "Pick up the brown bottle with glossy swirls with the left arm and shake.",
+    "Grab the brown bottle with glossy swirls and give it a shake.",
+    "Pick up the brown bottle with glossy swirls and shake it.",
+    "Pick and shake the the cylindrical bottle with curved sides with the left arm.",
+    "Pick up the cylindrical bottle with curved sides and shake it.",
+    "Grab the glossy brown bottle, shake it properly, then set it down.",
+    "Use the left arm to pick the cylindrical bottle with curved sides.",
+    "Use the left arm to grab the glossy brown bottle and shake.",
+    "Shake the brown bottle with glossy swirls after picking it with the left arm.",
+    "Grab the cylindrical bottle with curved sides and shake it.",
+    "Pick up the cylindrical bottle with curved sides with the left arm and shake.",
+    "Grab the cylindrical bottle with curved sides and give it a shake.",
+    "Pick up the brown bottle with glossy swirls and shake it.",
+    "Pick and shake the the cylindrical bottle with curved sides with the left arm.",
+    "Pick up the cylindrical bottle with curved sides and shake it.",
+    "Grab the glossy brown bottle, shake it properly, then set it down.",
+    "Use the left arm to pick the glossy brown bottle.",
+    "Use the left arm to grab the glossy brown bottle and shake.",
+    "Shake the glossy brown bottle after picking it with the left arm.",
+    "Grab the glossy brown bottle and shake it.",
+    "Pick up the glossy brown bottle with the left arm and shake.",
+    "Grab the glossy brown bottle and give it a shake.",
+    "Pick up the glossy brown bottle and shake it.",
+    "Pick and shake the the brown bottle with glossy swirls with the left arm.",
+    "Pick up the cylindrical bottle with curved sides and shake it.",
+    "Grab the glossy brown bottle, shake it properly, then set it down.",
+    "Use the left arm to pick the glossy brown bottle.",
+    "Use the left arm to grab the glossy brown bottle and shake.",
+    "Shake the brown bottle with glossy swirls after picking it with the left arm.",
+    "Grab the glossy brown bottle and shake it.",
+    "Pick up the brown bottle with glossy swirls with the left arm and shake.",
+    "Grab the brown bottle with glossy swirls and give it a shake.",
+    "Pick up the cylindrical bottle with curved sides and shake it.",
+    "Pick and shake the the brown bottle with glossy swirls with the left arm.",
+    "Pick up the cylindrical bottle with curved sides and shake it.",
+    "Grab the cylindrical bottle with curved sides, shake it properly, then set it down.",
+    "Use the left arm to pick the brown bottle with glossy swirls.",
+    "Use the left arm to grab the cylindrical bottle with curved sides and shake.",
+    "Shake the glossy brown bottle after picking it with the left arm.",
+    "Grab the glossy brown bottle and shake it.",
+    "Pick up the cylindrical bottle with curved sides with the left arm and shake.",
+    "Grab the brown bottle with glossy swirls and give it a shake.",
+    "Pick up the brown bottle with glossy swirls and shake it.",
+    "Pick and shake the the brown bottle with glossy swirls with the left arm.",
+    "Pick up the cylindrical bottle with curved sides and shake it.",
+    "Grab the glossy brown bottle, shake it properly, then set it down.",
+    "Use the left arm to pick the glossy brown bottle.",
+    "Use the left arm to grab the glossy brown bottle and shake.",
+    "Shake the brown bottle with glossy swirls after picking it with the left arm.",
+    "Grab the brown bottle with glossy swirls and shake it.",
+    "Pick up the cylindrical bottle with curved sides with the left arm and shake.",
+    "Grab the brown bottle with glossy swirls and give it a shake.",
+    "Pick up the glossy brown bottle and shake it.",
+    "Pick and shake the the glossy brown bottle with the left arm.",
+    "Pick up the glossy brown bottle and shake it.",
+    "Grab the brown bottle with glossy swirls, shake it properly, then set it down.",
+    "Use the left arm to pick the cylindrical bottle with curved sides.",
+    "Use the left arm to grab the cylindrical bottle with curved sides and shake.",
+    "Shake the glossy brown bottle after picking it with the left arm.",
+    "Grab the glossy brown bottle and shake it.",
+    "Pick up the cylindrical bottle with curved sides with the left arm and shake.",
+    "Grab the glossy brown bottle and give it a shake.",
+    "Pick up the brown bottle with glossy swirls and shake it.",
+    "Pick and shake the the cylindrical bottle with curved sides with the left arm.",
+    "Pick up the cylindrical bottle with curved sides and shake it.",
+    "Grab the cylindrical bottle with curved sides, shake it properly, then set it down.",
+    "Use the left arm to pick the glossy brown bottle.",
+    "Use the left arm to grab the brown bottle with glossy swirls and shake.",
+    "Shake the brown bottle with glossy swirls after picking it with the left arm.",
+    "Grab the glossy brown bottle and shake it.",
+    "Pick up the brown bottle with glossy swirls with the left arm and shake.",
+    "Grab the cylindrical bottle with curved sides and give it a shake.",
+    "Pick up the glossy brown bottle and shake it.",
+    "Pick and shake the the brown bottle with glossy swirls with the left arm.",
+    "Pick up the brown bottle with glossy swirls and shake it.",
+    "Grab the cylindrical bottle with curved sides, shake it properly, then set it down.",
+    "Use the left arm to pick the brown bottle with glossy swirls.",
+    "Use the left arm to grab the cylindrical bottle with curved sides and shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005203.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005203.json
new file mode 100644
index 0000000000000000000000000000000000000000..134f24cd6bf853a46259d61e9afd539c10b92567
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005203.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the bottle with narrow neck steady, then shake it.",
+    "Grab and shake the bottle with printed label using the left arm.",
+    "Shake the plastic bottle after grabbing it.",
+    "Lift the plastic bottle and shake it gently.",
+    "Grab the plastic bottle using the left arm, then shake.",
+    "Hold the plastic bottle and shake it properly.",
+    "Secure the yellow-capped plastic bottle and perform a shake.",
+    "Shake the medium-sized orange bottle thoroughly after grabbing it.",
+    "Lift the bottle for liquids with the left arm and shake it.",
+    "Grab the smooth plastic bottle and give it a shake.",
+    "Grab the bottle with printed label carefully and shake.",
+    "Grab the bottle for liquids firmly, shake it, and put it down.",
+    "Shake the bottle with printed label after lifting it.",
+    "Pick the bottle with yellow cap and perform shaking motion.",
+    "Pick up the plastic bottle with sealed yellow cap and shake it.",
+    "Use the left arm to lift and shake the cylindrical orange bottle with yellow top.",
+    "Grab the plastic bottle with the left arm and shake.",
+    "Pick up the yellow-capped plastic bottle and shake it well.",
+    "Use the left arm to lift and shake the orange bottle.",
+    "Shake the orange cylindrical bottle using the left arm after grabbing.",
+    "Pick the cylindrical orange bottle with yellow top up using the left arm and shake it.",
+    "Lift the bottle with printed label with the left arm and give it a shake.",
+    "Grip the bottle with printed label using the left arm and shake.",
+    "Grasp the bottle for liquids with the left arm and shake it.",
+    "Use the left arm to grab the cylindrical orange bottle with yellow top and shake properly.",
+    "Lift the bottle with printed label with the left arm and shake.",
+    "Utilize the left arm to hold the medium-sized orange bottle and shake it.",
+    "Use the left arm to hold the bottle with printed label and shake it.",
+    "Use the left arm to grab the bottle for liquids and shake it.",
+    "Hold the bottle with yellow cap with the left arm and shake lightly.",
+    "Shake the the medium-sized orange bottle properly after lifting.",
+    "With the left arm, pick the plastic bottle with sealed yellow cap and shake properly.",
+    "Catch the bottle with printed label and shake it instantly.",
+    "Use the left arm to pick and shake the plastic bottle.",
+    "Grab the cylindrical orange bottle with yellow top and shake it steadily.",
+    "Hold the smooth plastic bottle, shake it briefly.",
+    "Using the left arm, shake the yellow-capped plastic bottle and then place it back.",
+    "Grab the bottle for liquids and move it to shake.",
+    "Shake the smooth plastic bottle after holding it firmly.",
+    "Pick the bottle for liquids, shake it with the left arm.",
+    "Shake the bottle for liquids after grabbing it.",
+    "Shake the bottle with printed label after grabbing it.",
+    "Take the bottle with yellow cap using the left arm and give it a shake.",
+    "Use the left arm to lift and shake the orange bottle.",
+    "Pick the smooth plastic bottle up with the left arm and shake.",
+    "Shake the bottle with yellow cap firmly after grabbing.",
+    "Hold and shake the the orange cylindrical bottle carefully.",
+    "Lift up the bottle for liquids using the left arm, then shake.",
+    "Lift the orange cylindrical bottle and shake it thoroughly.",
+    "Secure the plastic bottle with sealed yellow cap, shake it, and place it down.",
+    "Hold the orange bottle steady, then shake it.",
+    "Grab and shake the bottle with printed label using the left arm.",
+    "Shake the orange bottle after grabbing it.",
+    "Lift the smooth plastic bottle and shake it gently.",
+    "Grab the plastic bottle using the left arm, then shake.",
+    "Hold the bottle with yellow cap and shake it properly.",
+    "Secure the bottle with printed label and perform a shake.",
+    "Shake the plastic bottle thoroughly after grabbing it.",
+    "Lift the yellow-capped plastic bottle with the left arm and shake it.",
+    "Grab the plastic bottle with sealed yellow cap and give it a shake.",
+    "Grab the orange cylindrical bottle carefully and shake.",
+    "Grab the bottle with yellow cap firmly, shake it, and put it down.",
+    "Shake the bottle with yellow cap after lifting it.",
+    "Pick the bottle with yellow cap and perform shaking motion.",
+    "Pick up the bottle with narrow neck and shake it.",
+    "Use the left arm to lift and shake the cylindrical orange bottle with yellow top.",
+    "Grab the bottle with printed label with the left arm and shake.",
+    "Pick up the bottle with printed label and shake it well.",
+    "Use the left arm to lift and shake the orange cylindrical bottle.",
+    "Shake the cylindrical orange bottle with yellow top using the left arm after grabbing.",
+    "Pick the yellow-capped plastic bottle up using the left arm and shake it.",
+    "Lift the plastic bottle with sealed yellow cap with the left arm and give it a shake.",
+    "Grip the orange bottle using the left arm and shake.",
+    "Grasp the smooth plastic bottle with the left arm and shake it.",
+    "Use the left arm to grab the plastic bottle and shake properly.",
+    "Lift the smooth plastic bottle with the left arm and shake.",
+    "Utilize the left arm to hold the bottle for liquids and shake it.",
+    "Use the left arm to hold the yellow-capped plastic bottle and shake it.",
+    "Use the left arm to grab the bottle with yellow cap and shake it.",
+    "Hold the bottle with printed label with the left arm and shake lightly.",
+    "Shake the the yellow-capped plastic bottle properly after lifting.",
+    "With the left arm, pick the medium-sized orange bottle and shake properly.",
+    "Catch the plastic bottle and shake it instantly.",
+    "Use the left arm to pick and shake the plastic bottle with sealed yellow cap.",
+    "Grab the plastic bottle with sealed yellow cap and shake it steadily.",
+    "Hold the smooth plastic bottle, shake it briefly.",
+    "Using the left arm, shake the medium-sized orange bottle and then place it back.",
+    "Grab the cylindrical orange bottle with yellow top and move it to shake.",
+    "Shake the yellow-capped plastic bottle after holding it firmly.",
+    "Pick the medium-sized orange bottle, shake it with the left arm.",
+    "Shake the bottle with yellow cap after grabbing it.",
+    "Shake the orange bottle after grabbing it.",
+    "Take the bottle for liquids using the left arm and give it a shake.",
+    "Use the left arm to lift and shake the plastic bottle with sealed yellow cap.",
+    "Pick the medium-sized orange bottle up with the left arm and shake.",
+    "Shake the orange bottle firmly after grabbing.",
+    "Hold and shake the the plastic bottle carefully.",
+    "Lift up the orange cylindrical bottle using the left arm, then shake.",
+    "Lift the bottle with printed label and shake it thoroughly.",
+    "Secure the bottle with narrow neck, shake it, and place it down."
+  ],
+  "unseen": [
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Grab the handheld orange bottle and shake it.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Grab the handheld orange bottle and shake it.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Use the left arm to pick the handheld orange bottle."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005258.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005258.json
new file mode 100644
index 0000000000000000000000000000000000000000..eca358f7b050115f7e3f5a215339d88543be208b
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005258.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the smooth brown bottle and move it to shake.",
+    "Pick up the medium plastic bottle and shake it.",
+    "Lift the medium plastic bottle with the right arm and give it a shake.",
+    "Lift the bottle with brown body and white top and shake it thoroughly.",
+    "Use the right arm to pick and shake the rounded bottle with printed details.",
+    "Secure the smooth brown bottle, shake it, and place it down.",
+    "Use the right arm to grab the bottle with white cap and shake it.",
+    "With the right arm, pick the white-capped brown cylindrical bottle and shake properly.",
+    "Shake the bottle with white cap after grabbing it.",
+    "Hold and shake the the rounded bottle with printed details carefully.",
+    "Hold the bottle with dark brown color with the right arm and shake lightly.",
+    "Use the right arm to grab the plastic bottle with printed label and shake properly.",
+    "Lift the medium bottle with smooth texture with the right arm and shake.",
+    "Grab the medium plastic bottle using the right arm, then shake.",
+    "Use the right arm to lift and shake the medium plastic bottle.",
+    "Use the right arm to lift and shake the plastic bottle for liquids.",
+    "Grip the bottle with dark brown color using the right arm and shake.",
+    "Lift the bottle with brown body and white top and shake it gently.",
+    "Grasp the smooth brown bottle with the right arm and shake it.",
+    "Grab the cylindrical bottle with narrow neck carefully and shake.",
+    "Shake the plastic bottle with printed label using the right arm after grabbing.",
+    "Secure the cylindrical bottle with narrow neck and perform a shake.",
+    "Utilize the right arm to hold the bottle with brown body and white top and shake it.",
+    "Hold the plastic bottle with printed label steady, then shake it.",
+    "Shake the medium plastic bottle after holding it firmly.",
+    "Lift the cylindrical bottle with narrow neck with the right arm and shake it.",
+    "Hold the cylindrical bottle with narrow neck, shake it briefly.",
+    "Use the right arm to hold the smooth brown bottle and shake it.",
+    "Shake the cylindrical bottle with narrow neck after grabbing it.",
+    "Pick the bottle with brown body and white top and perform shaking motion.",
+    "Pick the plastic bottle for liquids up using the right arm and shake it.",
+    "Use the right arm to lift and shake the bottle with brown body and white top.",
+    "Pick up the smooth brown bottle and shake it well.",
+    "Pick the bottle with brown body and white top, shake it with the right arm.",
+    "Grab and shake the smooth brown bottle using the right arm.",
+    "Grab the medium plastic bottle and give it a shake.",
+    "Shake the white-capped brown cylindrical bottle after lifting it.",
+    "Pick the rounded bottle with printed details up with the right arm and shake.",
+    "Using the right arm, shake the medium bottle with smooth texture and then place it back.",
+    "Lift up the medium plastic bottle using the right arm, then shake.",
+    "Shake the bottle with brown body and white top after grabbing it.",
+    "Take the cylindrical bottle with narrow neck using the right arm and give it a shake.",
+    "Grab the bottle with white cap firmly, shake it, and put it down.",
+    "Grab the bottle with dark brown color and shake it steadily.",
+    "Hold the medium bottle with smooth texture and shake it properly.",
+    "Shake the bottle with brown body and white top thoroughly after grabbing it.",
+    "Shake the the medium bottle with smooth texture properly after lifting.",
+    "Shake the medium plastic bottle firmly after grabbing.",
+    "Catch the bottle with brown body and white top and shake it instantly.",
+    "Grab the handheld brown bottle with white lid with the right arm and shake.",
+    "Grab the rounded bottle with printed details and move it to shake.",
+    "Pick up the medium bottle with smooth texture and shake it.",
+    "Lift the cylindrical bottle with narrow neck with the right arm and give it a shake.",
+    "Lift the medium plastic bottle and shake it thoroughly.",
+    "Use the right arm to pick and shake the bottle with dark brown color.",
+    "Secure the plastic bottle with printed label, shake it, and place it down.",
+    "Use the right arm to grab the white-capped brown cylindrical bottle and shake it.",
+    "With the right arm, pick the medium bottle with smooth texture and shake properly.",
+    "Shake the cylindrical bottle with narrow neck after grabbing it.",
+    "Hold and shake the the handheld brown bottle with white lid carefully.",
+    "Hold the rounded bottle with printed details with the right arm and shake lightly.",
+    "Use the right arm to grab the handheld brown bottle with white lid and shake properly.",
+    "Lift the plastic bottle with printed label with the right arm and shake.",
+    "Grab the white-capped brown cylindrical bottle using the right arm, then shake.",
+    "Use the right arm to lift and shake the bottle with dark brown color.",
+    "Use the right arm to lift and shake the bottle with brown body and white top.",
+    "Grip the rounded bottle with printed details using the right arm and shake.",
+    "Lift the plastic bottle for liquids and shake it gently.",
+    "Grasp the plastic bottle with printed label with the right arm and shake it.",
+    "Grab the cylindrical bottle with narrow neck carefully and shake.",
+    "Shake the bottle with dark brown color using the right arm after grabbing.",
+    "Secure the bottle with brown body and white top and perform a shake.",
+    "Utilize the right arm to hold the cylindrical bottle with narrow neck and shake it.",
+    "Hold the plastic bottle for liquids steady, then shake it.",
+    "Shake the cylindrical bottle with narrow neck after holding it firmly.",
+    "Lift the bottle with dark brown color with the right arm and shake it.",
+    "Hold the rounded bottle with printed details, shake it briefly.",
+    "Use the right arm to hold the smooth brown bottle and shake it.",
+    "Shake the bottle with white cap after grabbing it.",
+    "Pick the plastic bottle with printed label and perform shaking motion.",
+    "Pick the medium plastic bottle up using the right arm and shake it.",
+    "Use the right arm to lift and shake the handheld brown bottle with white lid.",
+    "Pick up the handheld brown bottle with white lid and shake it well.",
+    "Pick the rounded bottle with printed details, shake it with the right arm.",
+    "Grab and shake the medium plastic bottle using the right arm.",
+    "Grab the bottle with brown body and white top and give it a shake.",
+    "Shake the plastic bottle for liquids after lifting it.",
+    "Pick the bottle with brown body and white top up with the right arm and shake.",
+    "Using the right arm, shake the handheld brown bottle with white lid and then place it back.",
+    "Lift up the medium plastic bottle using the right arm, then shake.",
+    "Shake the cylindrical bottle with narrow neck after grabbing it.",
+    "Take the smooth brown bottle using the right arm and give it a shake.",
+    "Grab the cylindrical bottle with narrow neck firmly, shake it, and put it down.",
+    "Grab the smooth brown bottle and shake it steadily.",
+    "Hold the medium bottle with smooth texture and shake it properly.",
+    "Shake the bottle with white cap thoroughly after grabbing it.",
+    "Shake the the medium plastic bottle properly after lifting.",
+    "Shake the plastic bottle with printed label firmly after grabbing.",
+    "Catch the white-capped brown cylindrical bottle and shake it instantly.",
+    "Grab the bottle with white cap with the right arm and shake."
+  ],
+  "unseen": [
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Use the right arm to pick the brown bottle.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle with the right arm and shake.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Use the right arm to grab the lightweight plastic brown bottle and shake.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Use the right arm to pick the brown bottle.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Shake the lightweight plastic brown bottle after picking it with the right arm.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Grab the brown bottle and give it a shake.",
+    "Use the right arm to grab the lightweight plastic brown bottle and shake.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Grab the brown bottle and shake it.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "Use the right arm to pick the brown cylindrical bottle with label.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Use the right arm to grab the lightweight plastic brown bottle and shake.",
+    "Grab the brown bottle and shake it.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Use the right arm to pick the brown bottle.",
+    "Pick up the brown bottle and shake it.",
+    "Shake the lightweight plastic brown bottle after picking it with the right arm.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle with the right arm and shake.",
+    "Grab the brown bottle and give it a shake.",
+    "Use the right arm to grab the lightweight plastic brown bottle and shake.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "Grab the brown bottle and give it a shake.",
+    "Use the right arm to grab the lightweight plastic brown bottle and shake.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Grab the brown bottle and give it a shake.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Grab the brown bottle and shake it.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Pick up the brown bottle and shake it.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle with the right arm and shake.",
+    "Grab the brown bottle and give it a shake.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Use the right arm to pick the brown cylindrical bottle with label.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Shake the lightweight plastic brown bottle after picking it with the right arm.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick up the lightweight plastic brown bottle with the right arm and shake.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Grab the brown bottle and shake it.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Pick up the brown bottle and shake it.",
+    "Shake the lightweight plastic brown bottle after picking it with the right arm.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle with the right arm and shake.",
+    "Grab the brown bottle and give it a shake.",
+    "Use the right arm to grab the brown bottle and shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006227.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006227.json
new file mode 100644
index 0000000000000000000000000000000000000000..d544a2380ec423baf98cb59e88d436ad072e3326
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006227.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grasp the medium plastic bottle with the right arm and shake it.",
+    "Use the right arm to grab the cylindrical bottle with narrow neck and shake it.",
+    "Catch the cylindrical bottle with narrow neck and shake it instantly.",
+    "Hold the cylindrical bottle with narrow neck, shake it briefly.",
+    "Lift the plastic bottle for liquids and shake it gently.",
+    "Shake the plastic bottle for liquids after grabbing it.",
+    "Shake the white-capped brown cylindrical bottle after lifting it.",
+    "Grab the plastic bottle with printed label with the right arm and shake.",
+    "With the right arm, pick the bottle with dark brown color and shake properly.",
+    "Grab the smooth brown bottle carefully and shake.",
+    "Shake the smooth brown bottle after grabbing it.",
+    "Shake the cylindrical bottle with narrow neck thoroughly after grabbing it.",
+    "Shake the smooth brown bottle firmly after grabbing.",
+    "Use the right arm to lift and shake the rounded bottle with printed details.",
+    "Grab the bottle with dark brown color and shake it steadily.",
+    "Pick the medium plastic bottle and perform shaking motion.",
+    "Use the right arm to grab the bottle with brown body and white top and shake properly.",
+    "Hold the plastic bottle with printed label steady, then shake it.",
+    "Utilize the right arm to hold the bottle with brown body and white top and shake it.",
+    "Pick up the plastic bottle with printed label and shake it well.",
+    "Grab the rounded bottle with printed details using the right arm, then shake.",
+    "Lift the white-capped brown cylindrical bottle with the right arm and shake it.",
+    "Use the right arm to lift and shake the rounded bottle with printed details.",
+    "Take the handheld brown bottle with white lid using the right arm and give it a shake.",
+    "Use the right arm to lift and shake the plastic bottle for liquids.",
+    "Pick the bottle with dark brown color up using the right arm and shake it.",
+    "Pick the cylindrical bottle with narrow neck up with the right arm and shake.",
+    "Lift up the plastic bottle with printed label using the right arm, then shake.",
+    "Secure the bottle with white cap and perform a shake.",
+    "Hold and shake the the bottle with dark brown color carefully.",
+    "Shake the the plastic bottle for liquids properly after lifting.",
+    "Pick the white-capped brown cylindrical bottle, shake it with the right arm.",
+    "Lift the handheld brown bottle with white lid and shake it thoroughly.",
+    "Use the right arm to pick and shake the plastic bottle for liquids.",
+    "Hold the bottle with dark brown color and shake it properly.",
+    "Grip the bottle with brown body and white top using the right arm and shake.",
+    "Lift the medium bottle with smooth texture with the right arm and give it a shake.",
+    "Grab the medium bottle with smooth texture firmly, shake it, and put it down.",
+    "Shake the bottle with brown body and white top after grabbing it.",
+    "Shake the rounded bottle with printed details using the right arm after grabbing.",
+    "Grab the white-capped brown cylindrical bottle and give it a shake.",
+    "Using the right arm, shake the cylindrical bottle with narrow neck and then place it back.",
+    "Lift the handheld brown bottle with white lid with the right arm and shake.",
+    "Secure the bottle with white cap, shake it, and place it down.",
+    "Grab and shake the smooth brown bottle using the right arm.",
+    "Shake the plastic bottle with printed label after holding it firmly.",
+    "Use the right arm to hold the medium plastic bottle and shake it.",
+    "Hold the medium bottle with smooth texture with the right arm and shake lightly.",
+    "Pick up the smooth brown bottle and shake it.",
+    "Grab the bottle with dark brown color and move it to shake.",
+    "Grasp the medium plastic bottle with the right arm and shake it.",
+    "Use the right arm to grab the white-capped brown cylindrical bottle and shake it.",
+    "Catch the plastic bottle for liquids and shake it instantly.",
+    "Hold the medium bottle with smooth texture, shake it briefly.",
+    "Lift the plastic bottle for liquids and shake it gently.",
+    "Shake the medium plastic bottle after grabbing it.",
+    "Shake the white-capped brown cylindrical bottle after lifting it.",
+    "Grab the bottle with white cap with the right arm and shake.",
+    "With the right arm, pick the bottle with white cap and shake properly.",
+    "Grab the medium plastic bottle carefully and shake.",
+    "Shake the plastic bottle for liquids after grabbing it.",
+    "Shake the bottle with white cap thoroughly after grabbing it.",
+    "Shake the white-capped brown cylindrical bottle firmly after grabbing.",
+    "Use the right arm to lift and shake the bottle with dark brown color.",
+    "Grab the white-capped brown cylindrical bottle and shake it steadily.",
+    "Pick the handheld brown bottle with white lid and perform shaking motion.",
+    "Use the right arm to grab the bottle with brown body and white top and shake properly.",
+    "Hold the bottle with brown body and white top steady, then shake it.",
+    "Utilize the right arm to hold the smooth brown bottle and shake it.",
+    "Pick up the white-capped brown cylindrical bottle and shake it well.",
+    "Grab the smooth brown bottle using the right arm, then shake.",
+    "Lift the medium bottle with smooth texture with the right arm and shake it.",
+    "Use the right arm to lift and shake the bottle with white cap.",
+    "Take the rounded bottle with printed details using the right arm and give it a shake.",
+    "Use the right arm to lift and shake the medium bottle with smooth texture.",
+    "Pick the smooth brown bottle up using the right arm and shake it.",
+    "Pick the cylindrical bottle with narrow neck up with the right arm and shake.",
+    "Lift up the bottle with brown body and white top using the right arm, then shake.",
+    "Secure the white-capped brown cylindrical bottle and perform a shake.",
+    "Hold and shake the the medium bottle with smooth texture carefully.",
+    "Shake the the plastic bottle with printed label properly after lifting.",
+    "Pick the handheld brown bottle with white lid, shake it with the right arm.",
+    "Lift the bottle with dark brown color and shake it thoroughly.",
+    "Use the right arm to pick and shake the plastic bottle for liquids.",
+    "Hold the bottle with brown body and white top and shake it properly.",
+    "Grip the bottle with brown body and white top using the right arm and shake.",
+    "Lift the smooth brown bottle with the right arm and give it a shake.",
+    "Grab the handheld brown bottle with white lid firmly, shake it, and put it down.",
+    "Shake the white-capped brown cylindrical bottle after grabbing it.",
+    "Shake the bottle with brown body and white top using the right arm after grabbing.",
+    "Grab the rounded bottle with printed details and give it a shake.",
+    "Using the right arm, shake the cylindrical bottle with narrow neck and then place it back.",
+    "Lift the rounded bottle with printed details with the right arm and shake.",
+    "Secure the medium bottle with smooth texture, shake it, and place it down.",
+    "Grab and shake the bottle with brown body and white top using the right arm.",
+    "Shake the smooth brown bottle after holding it firmly.",
+    "Use the right arm to hold the cylindrical bottle with narrow neck and shake it.",
+    "Hold the bottle with dark brown color with the right arm and shake lightly.",
+    "Pick up the white-capped brown cylindrical bottle and shake it.",
+    "Grab the bottle with white cap and move it to shake."
+  ],
+  "unseen": [
+    "Pick and shake the the brown bottle with the right arm.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Use the right arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Use the right arm to pick the brown bottle.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Grab the brown bottle and shake it.",
+    "Shake the lightweight plastic brown bottle after picking it with the right arm.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Use the right arm to pick the brown cylindrical bottle with label.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Grab the brown bottle and give it a shake.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Shake the lightweight plastic brown bottle after picking it with the right arm.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Use the right arm to pick the brown bottle.",
+    "Pick up the lightweight plastic brown bottle with the right arm and shake.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Grab the brown bottle and shake it.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Use the right arm to pick the brown bottle.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Shake the lightweight plastic brown bottle after picking it with the right arm.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Use the right arm to pick the brown bottle.",
+    "Pick up the lightweight plastic brown bottle with the right arm and shake.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Shake the lightweight plastic brown bottle after picking it with the right arm.",
+    "Use the right arm to grab the lightweight plastic brown bottle and shake.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the brown bottle and give it a shake.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Use the right arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Grab the brown bottle and give it a shake.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Use the right arm to pick the brown cylindrical bottle with label.",
+    "Pick up the lightweight plastic brown bottle with the right arm and shake.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Use the right arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006309.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006309.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a7c73e4d418f356586c5261e970e63a407d5488
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006309.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to lift and shake the white bottle for liquids.",
+    "Shake the white bottle for liquids thoroughly after grabbing it.",
+    "Lift the medium-sized bottle with the left arm and give it a shake.",
+    "Pick the handheld white bottle with cap up with the left arm and shake.",
+    "Grab the plastic bottle carefully and shake.",
+    "Shake the white bottle for liquids using the left arm after grabbing.",
+    "Hold the medium-sized bottle and shake it properly.",
+    "Hold the bottle with orange screw cap with the left arm and shake lightly.",
+    "Pick the white bottle with red text and perform shaking motion.",
+    "Grab and shake the bottle with orange screw cap using the left arm.",
+    "Pick the medium-sized bottle up using the left arm and shake it.",
+    "Shake the bottle with tapering neck after grabbing it.",
+    "Shake the plastic bottle after grabbing it.",
+    "Use the left arm to pick and shake the plastic bottle.",
+    "With the left arm, pick the bottle with orange screw cap and shake properly.",
+    "Catch the white bottle with orange lid and shake it instantly.",
+    "Shake the medium-sized bottle after holding it firmly.",
+    "Hold the smooth bottle steady, then shake it.",
+    "Grab the smooth bottle and move it to shake.",
+    "Grab the smooth bottle firmly, shake it, and put it down.",
+    "Pick the cylindrical bottle with red writing, shake it with the left arm.",
+    "Shake the white bottle for liquids after grabbing it.",
+    "Pick up the white bottle for liquids and shake it well.",
+    "Lift up the white bottle for liquids using the left arm, then shake.",
+    "Grab the white bottle with orange lid and shake it steadily.",
+    "Use the left arm to grab the white bottle for liquids and shake properly.",
+    "Shake the bottle with tapering neck firmly after grabbing.",
+    "Using the left arm, shake the white bottle for liquids and then place it back.",
+    "Take the white bottle for liquids using the left arm and give it a shake.",
+    "Hold the bottle with tapering neck, shake it briefly.",
+    "Grip the bottle with orange screw cap using the left arm and shake.",
+    "Use the left arm to hold the white bottle and shake it.",
+    "Grab the white bottle with red text using the left arm, then shake.",
+    "Lift the white bottle with orange lid with the left arm and shake it.",
+    "Grab the smooth bottle with the left arm and shake.",
+    "Pick up the smooth bottle and shake it.",
+    "Lift the smooth bottle with the left arm and shake.",
+    "Shake the the smooth bottle properly after lifting.",
+    "Shake the white cylindrical bottle after lifting it.",
+    "Utilize the left arm to hold the white bottle with red text and shake it.",
+    "Lift the white cylindrical bottle and shake it gently.",
+    "Hold and shake the the medium-sized bottle carefully.",
+    "Use the left arm to grab the medium-sized bottle and shake it.",
+    "Grab the medium-sized bottle and give it a shake.",
+    "Secure the white cylindrical bottle and perform a shake.",
+    "Secure the cylindrical bottle with red writing, shake it, and place it down.",
+    "Use the left arm to lift and shake the medium-sized bottle.",
+    "Lift the white bottle for liquids and shake it thoroughly.",
+    "Grasp the handheld white bottle with cap with the left arm and shake it.",
+    "Use the left arm to lift and shake the medium-sized bottle.",
+    "Use the left arm to lift and shake the plastic bottle.",
+    "Shake the bottle with orange screw cap thoroughly after grabbing it.",
+    "Lift the white bottle for liquids with the left arm and give it a shake.",
+    "Pick the handheld white bottle with cap up with the left arm and shake.",
+    "Grab the white bottle with red text carefully and shake.",
+    "Shake the cylindrical bottle with red writing using the left arm after grabbing.",
+    "Hold the white bottle and shake it properly.",
+    "Hold the smooth bottle with the left arm and shake lightly.",
+    "Pick the bottle with orange screw cap and perform shaking motion.",
+    "Grab and shake the white bottle with red text using the left arm.",
+    "Pick the cylindrical bottle with red writing up using the left arm and shake it.",
+    "Shake the white bottle with red text after grabbing it.",
+    "Shake the plastic bottle after grabbing it.",
+    "Use the left arm to pick and shake the bottle with tapering neck.",
+    "With the left arm, pick the white bottle with red text and shake properly.",
+    "Catch the white bottle and shake it instantly.",
+    "Shake the bottle with orange screw cap after holding it firmly.",
+    "Hold the bottle with orange screw cap steady, then shake it.",
+    "Grab the white bottle with orange lid and move it to shake.",
+    "Grab the handheld white bottle with cap firmly, shake it, and put it down.",
+    "Pick the white bottle, shake it with the left arm.",
+    "Shake the white bottle with red text after grabbing it.",
+    "Pick up the white bottle with red text and shake it well.",
+    "Lift up the white bottle with orange lid using the left arm, then shake.",
+    "Grab the white bottle with red text and shake it steadily.",
+    "Use the left arm to grab the bottle with orange screw cap and shake properly.",
+    "Shake the white bottle with red text firmly after grabbing.",
+    "Using the left arm, shake the medium-sized bottle and then place it back.",
+    "Take the white bottle with orange lid using the left arm and give it a shake.",
+    "Hold the handheld white bottle with cap, shake it briefly.",
+    "Grip the white bottle for liquids using the left arm and shake.",
+    "Use the left arm to hold the bottle with tapering neck and shake it.",
+    "Grab the white bottle for liquids using the left arm, then shake.",
+    "Lift the white bottle with the left arm and shake it.",
+    "Grab the bottle with tapering neck with the left arm and shake.",
+    "Pick up the plastic bottle and shake it.",
+    "Lift the white bottle with red text with the left arm and shake.",
+    "Shake the the white bottle properly after lifting.",
+    "Shake the white bottle after lifting it.",
+    "Utilize the left arm to hold the white bottle with orange lid and shake it.",
+    "Lift the handheld white bottle with cap and shake it gently.",
+    "Hold and shake the the handheld white bottle with cap carefully.",
+    "Use the left arm to grab the bottle with orange screw cap and shake it.",
+    "Grab the white bottle with orange lid and give it a shake.",
+    "Secure the bottle with orange screw cap and perform a shake.",
+    "Secure the bottle with orange screw cap, shake it, and place it down.",
+    "Use the left arm to lift and shake the bottle with tapering neck.",
+    "Lift the handheld white bottle with cap and shake it thoroughly.",
+    "Grasp the bottle with orange screw cap with the left arm and shake it.",
+    "Use the left arm to lift and shake the white bottle with red text."
+  ],
+  "unseen": [
+    "Shake the plastic bottle with printed label after picking it with the left arm.",
+    "Grab the plastic bottle with printed label and shake it.",
+    "Grab the bottle with orange cap and give it a shake.",
+    "Pick up the bottle with glossy surface and shake it.",
+    "Use the left arm to pick the plastic bottle with printed label.",
+    "Pick up the bottle with glossy surface and shake it.",
+    "Pick and shake the the plastic bottle with printed label with the left arm.",
+    "Pick up the plastic bottle with printed label with the left arm and shake.",
+    "Use the left arm to grab the bottle with orange cap and shake.",
+    "Grab the bottle with glossy surface, shake it properly, then set it down.",
+    "Shake the plastic bottle with printed label after picking it with the left arm.",
+    "Grab the bottle with glossy surface and shake it.",
+    "Grab the bottle with orange cap and give it a shake.",
+    "Pick up the bottle with glossy surface and shake it.",
+    "Use the left arm to pick the bottle with glossy surface.",
+    "Pick up the plastic bottle with printed label and shake it.",
+    "Pick and shake the the bottle with glossy surface with the left arm.",
+    "Pick up the plastic bottle with printed label with the left arm and shake.",
+    "Use the left arm to grab the bottle with glossy surface and shake.",
+    "Grab the bottle with orange cap, shake it properly, then set it down.",
+    "Shake the plastic bottle with printed label after picking it with the left arm.",
+    "Grab the plastic bottle with printed label and shake it.",
+    "Grab the bottle with glossy surface and give it a shake.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Use the left arm to pick the plastic bottle with printed label.",
+    "Pick up the plastic bottle with printed label and shake it.",
+    "Pick and shake the the bottle with glossy surface with the left arm.",
+    "Pick up the plastic bottle with printed label with the left arm and shake.",
+    "Use the left arm to grab the bottle with glossy surface and shake.",
+    "Grab the plastic bottle with printed label, shake it properly, then set it down.",
+    "Shake the bottle with glossy surface after picking it with the left arm.",
+    "Grab the bottle with glossy surface and shake it.",
+    "Grab the bottle with glossy surface and give it a shake.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Use the left arm to pick the bottle with glossy surface.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Pick and shake the the plastic bottle with printed label with the left arm.",
+    "Pick up the bottle with glossy surface with the left arm and shake.",
+    "Use the left arm to grab the bottle with orange cap and shake.",
+    "Grab the bottle with glossy surface, shake it properly, then set it down.",
+    "Shake the bottle with glossy surface after picking it with the left arm.",
+    "Grab the plastic bottle with printed label and shake it.",
+    "Grab the bottle with glossy surface and give it a shake.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Use the left arm to pick the bottle with orange cap.",
+    "Pick up the plastic bottle with printed label and shake it.",
+    "Pick and shake the the bottle with glossy surface with the left arm.",
+    "Pick up the plastic bottle with printed label with the left arm and shake.",
+    "Use the left arm to grab the plastic bottle with printed label and shake.",
+    "Grab the bottle with orange cap, shake it properly, then set it down.",
+    "Shake the plastic bottle with printed label after picking it with the left arm.",
+    "Grab the bottle with glossy surface and shake it.",
+    "Grab the bottle with glossy surface and give it a shake.",
+    "Pick up the bottle with glossy surface and shake it.",
+    "Use the left arm to pick the bottle with orange cap.",
+    "Pick up the bottle with glossy surface and shake it.",
+    "Pick and shake the the bottle with orange cap with the left arm.",
+    "Pick up the bottle with orange cap with the left arm and shake.",
+    "Use the left arm to grab the bottle with orange cap and shake.",
+    "Grab the bottle with orange cap, shake it properly, then set it down.",
+    "Shake the plastic bottle with printed label after picking it with the left arm.",
+    "Grab the bottle with glossy surface and shake it.",
+    "Grab the bottle with orange cap and give it a shake.",
+    "Pick up the bottle with glossy surface and shake it.",
+    "Use the left arm to pick the plastic bottle with printed label.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Pick and shake the the bottle with orange cap with the left arm.",
+    "Pick up the bottle with orange cap with the left arm and shake.",
+    "Use the left arm to grab the bottle with orange cap and shake.",
+    "Grab the bottle with glossy surface, shake it properly, then set it down.",
+    "Shake the plastic bottle with printed label after picking it with the left arm.",
+    "Grab the bottle with glossy surface and shake it.",
+    "Grab the bottle with orange cap and give it a shake.",
+    "Pick up the plastic bottle with printed label and shake it.",
+    "Use the left arm to pick the bottle with glossy surface.",
+    "Pick up the bottle with glossy surface and shake it.",
+    "Pick and shake the the plastic bottle with printed label with the left arm.",
+    "Pick up the plastic bottle with printed label with the left arm and shake.",
+    "Use the left arm to grab the plastic bottle with printed label and shake.",
+    "Grab the bottle with glossy surface, shake it properly, then set it down.",
+    "Shake the bottle with glossy surface after picking it with the left arm.",
+    "Grab the bottle with glossy surface and shake it.",
+    "Grab the plastic bottle with printed label and give it a shake.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Use the left arm to pick the bottle with orange cap.",
+    "Pick up the bottle with glossy surface and shake it.",
+    "Pick and shake the the bottle with orange cap with the left arm.",
+    "Pick up the bottle with glossy surface with the left arm and shake.",
+    "Use the left arm to grab the bottle with glossy surface and shake.",
+    "Grab the plastic bottle with printed label, shake it properly, then set it down.",
+    "Shake the plastic bottle with printed label after picking it with the left arm.",
+    "Grab the plastic bottle with printed label and shake it.",
+    "Grab the bottle with glossy surface and give it a shake.",
+    "Pick up the bottle with glossy surface and shake it.",
+    "Use the left arm to pick the bottle with glossy surface.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Pick and shake the the plastic bottle with printed label with the left arm.",
+    "Pick up the bottle with orange cap with the left arm and shake.",
+    "Use the left arm to grab the plastic bottle with printed label and shake.",
+    "Grab the bottle with orange cap, shake it properly, then set it down."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007072.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007072.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bac9ac21759b3536a18c8e9fe2ab42317fdb9f9
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007072.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the plastic bottle with sealed yellow cap after grabbing it.",
+    "Hold the bottle with printed label and shake it properly.",
+    "Pick the cylindrical orange bottle with yellow top up with the left arm and shake.",
+    "Shake the plastic bottle firmly after grabbing.",
+    "Use the left arm to pick and shake the smooth plastic bottle.",
+    "Take the plastic bottle with sealed yellow cap using the left arm and give it a shake.",
+    "Hold and shake the the bottle with narrow neck carefully.",
+    "Lift the yellow-capped plastic bottle with the left arm and give it a shake.",
+    "Lift the plastic bottle with sealed yellow cap and shake it thoroughly.",
+    "Lift up the bottle with narrow neck using the left arm, then shake.",
+    "Grab and shake the orange bottle using the left arm.",
+    "Grab the yellow-capped plastic bottle and shake it steadily.",
+    "Use the left arm to grab the medium-sized orange bottle and shake it.",
+    "Grab the orange bottle carefully and shake.",
+    "Hold the bottle with printed label, shake it briefly.",
+    "Pick the smooth plastic bottle, shake it with the left arm.",
+    "Grab the orange bottle and move it to shake.",
+    "Pick up the bottle with printed label and shake it.",
+    "Pick the plastic bottle up using the left arm and shake it.",
+    "Lift the smooth plastic bottle with the left arm and shake it.",
+    "Shake the plastic bottle with sealed yellow cap after grabbing it.",
+    "Pick the bottle for liquids and perform shaking motion.",
+    "Use the left arm to lift and shake the bottle with yellow cap.",
+    "Shake the the bottle with printed label properly after lifting.",
+    "Use the left arm to hold the smooth plastic bottle and shake it.",
+    "Utilize the left arm to hold the bottle with yellow cap and shake it.",
+    "Lift the orange bottle and shake it gently.",
+    "Grab the bottle with printed label using the left arm, then shake.",
+    "Grab the orange bottle with the left arm and shake.",
+    "Use the left arm to grab the cylindrical orange bottle with yellow top and shake properly.",
+    "Hold the bottle with printed label steady, then shake it.",
+    "Use the left arm to lift and shake the smooth plastic bottle.",
+    "Shake the bottle for liquids using the left arm after grabbing.",
+    "Shake the smooth plastic bottle after grabbing it.",
+    "Lift the smooth plastic bottle with the left arm and shake.",
+    "Grasp the bottle with printed label with the left arm and shake it.",
+    "Secure the bottle with yellow cap, shake it, and place it down.",
+    "With the left arm, pick the yellow-capped plastic bottle and shake properly.",
+    "Pick up the bottle with narrow neck and shake it well.",
+    "Shake the bottle for liquids after lifting it.",
+    "Grab the bottle with narrow neck firmly, shake it, and put it down.",
+    "Catch the bottle for liquids and shake it instantly.",
+    "Using the left arm, shake the yellow-capped plastic bottle and then place it back.",
+    "Use the left arm to lift and shake the bottle with yellow cap.",
+    "Hold the plastic bottle with sealed yellow cap with the left arm and shake lightly.",
+    "Secure the orange bottle and perform a shake.",
+    "Shake the plastic bottle with sealed yellow cap after holding it firmly.",
+    "Shake the bottle with narrow neck thoroughly after grabbing it.",
+    "Grab the medium-sized orange bottle and give it a shake.",
+    "Grip the yellow-capped plastic bottle using the left arm and shake.",
+    "Shake the bottle with narrow neck after grabbing it.",
+    "Hold the bottle for liquids and shake it properly.",
+    "Pick the cylindrical orange bottle with yellow top up with the left arm and shake.",
+    "Shake the orange bottle firmly after grabbing.",
+    "Use the left arm to pick and shake the bottle with narrow neck.",
+    "Take the plastic bottle with sealed yellow cap using the left arm and give it a shake.",
+    "Hold and shake the the bottle with narrow neck carefully.",
+    "Lift the smooth plastic bottle with the left arm and give it a shake.",
+    "Lift the plastic bottle with sealed yellow cap and shake it thoroughly.",
+    "Lift up the bottle for liquids using the left arm, then shake.",
+    "Grab and shake the bottle with printed label using the left arm.",
+    "Grab the plastic bottle with sealed yellow cap and shake it steadily.",
+    "Use the left arm to grab the plastic bottle with sealed yellow cap and shake it.",
+    "Grab the plastic bottle with sealed yellow cap carefully and shake.",
+    "Hold the orange bottle, shake it briefly.",
+    "Pick the yellow-capped plastic bottle, shake it with the left arm.",
+    "Grab the smooth plastic bottle and move it to shake.",
+    "Pick up the orange bottle and shake it.",
+    "Pick the yellow-capped plastic bottle up using the left arm and shake it.",
+    "Lift the orange cylindrical bottle with the left arm and shake it.",
+    "Shake the medium-sized orange bottle after grabbing it.",
+    "Pick the bottle with narrow neck and perform shaking motion.",
+    "Use the left arm to lift and shake the plastic bottle.",
+    "Shake the the orange bottle properly after lifting.",
+    "Use the left arm to hold the bottle for liquids and shake it.",
+    "Utilize the left arm to hold the bottle for liquids and shake it.",
+    "Lift the bottle for liquids and shake it gently.",
+    "Grab the bottle with narrow neck using the left arm, then shake.",
+    "Grab the plastic bottle with the left arm and shake.",
+    "Use the left arm to grab the bottle for liquids and shake properly.",
+    "Hold the cylindrical orange bottle with yellow top steady, then shake it.",
+    "Use the left arm to lift and shake the cylindrical orange bottle with yellow top.",
+    "Shake the medium-sized orange bottle using the left arm after grabbing.",
+    "Shake the medium-sized orange bottle after grabbing it.",
+    "Lift the bottle with printed label with the left arm and shake.",
+    "Grasp the smooth plastic bottle with the left arm and shake it.",
+    "Secure the bottle with yellow cap, shake it, and place it down.",
+    "With the left arm, pick the bottle for liquids and shake properly.",
+    "Pick up the bottle with printed label and shake it well.",
+    "Shake the cylindrical orange bottle with yellow top after lifting it.",
+    "Grab the orange bottle firmly, shake it, and put it down.",
+    "Catch the plastic bottle with sealed yellow cap and shake it instantly.",
+    "Using the left arm, shake the bottle with printed label and then place it back.",
+    "Use the left arm to lift and shake the bottle with yellow cap.",
+    "Hold the medium-sized orange bottle with the left arm and shake lightly.",
+    "Secure the orange cylindrical bottle and perform a shake.",
+    "Shake the medium-sized orange bottle after holding it firmly.",
+    "Shake the cylindrical orange bottle with yellow top thoroughly after grabbing it.",
+    "Grab the bottle for liquids and give it a shake.",
+    "Grip the bottle with yellow cap using the left arm and shake."
+  ],
+  "unseen": [
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Grab the handheld orange bottle and shake it.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Grab the handheld orange bottle and shake it.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Grab the handheld orange bottle and shake it.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Grab the handheld orange bottle and shake it.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick up the orange bottle with smooth texture and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008221.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008221.json
new file mode 100644
index 0000000000000000000000000000000000000000..32a0516dd333927c99e9453df256e9e251ae741f
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008221.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the bottle with white cap firmly, shake it, and put it down.",
+    "Use the right arm to lift and shake the bottle with white cap.",
+    "Use the right arm to lift and shake the yellow bottle with green label.",
+    "Hold the smooth yellow plastic bottle, shake it briefly.",
+    "Grab the smooth yellow plastic bottle and move it to shake.",
+    "Grip the plastic bottle using the right arm and shake.",
+    "Grab the yellow bottle with flower design with the right arm and shake.",
+    "Grasp the yellow bottle with the right arm and shake it.",
+    "Catch the yellow bottle with cylindrical cap and shake it instantly.",
+    "Using the right arm, shake the plastic bottle and then place it back.",
+    "Lift up the yellow bottle with cylindrical cap using the right arm, then shake.",
+    "Secure the smooth yellow plastic bottle and perform a shake.",
+    "Shake the bottle for liquids after grabbing it.",
+    "Shake the yellow bottle using the right arm after grabbing.",
+    "Hold the yellow bottle with cylindrical cap with the right arm and shake lightly.",
+    "Secure the yellow bottle with flower design, shake it, and place it down.",
+    "Lift the smooth yellow plastic bottle and shake it thoroughly.",
+    "Lift the bottle for liquids and shake it gently.",
+    "Shake the yellow body bottle after holding it firmly.",
+    "Hold and shake the the bottle for liquids carefully.",
+    "Grab the yellow body bottle and give it a shake.",
+    "Lift the rectangular bottle with the right arm and give it a shake.",
+    "Pick up the plastic bottle and shake it well.",
+    "Hold the handheld bottle and shake it properly.",
+    "Pick the yellow bottle with green label and perform shaking motion.",
+    "With the right arm, pick the smooth yellow plastic bottle and shake properly.",
+    "Pick the yellow bottle with green label up with the right arm and shake.",
+    "Use the right arm to hold the yellow bottle with cylindrical cap and shake it.",
+    "Use the right arm to grab the rectangular bottle and shake properly.",
+    "Hold the yellow bottle steady, then shake it.",
+    "Grab the yellow bottle with cylindrical cap and shake it steadily.",
+    "Take the yellow bottle using the right arm and give it a shake.",
+    "Utilize the right arm to hold the bottle for liquids and shake it.",
+    "Shake the bottle with white cap firmly after grabbing.",
+    "Shake the yellow bottle with green label thoroughly after grabbing it.",
+    "Pick the yellow bottle with green label up using the right arm and shake it.",
+    "Shake the bottle for liquids after grabbing it.",
+    "Lift the yellow bottle with green label with the right arm and shake it.",
+    "Grab the yellow bottle with cylindrical cap carefully and shake.",
+    "Shake the yellow body bottle after lifting it.",
+    "Grab and shake the yellow bottle with cylindrical cap using the right arm.",
+    "Shake the the yellow bottle with green label properly after lifting.",
+    "Use the right arm to lift and shake the bottle with green and white label.",
+    "Pick up the plastic bottle and shake it.",
+    "Shake the yellow bottle with flower design after grabbing it.",
+    "Pick the plastic bottle, shake it with the right arm.",
+    "Use the right arm to grab the bottle for liquids and shake it.",
+    "Grab the bottle with white cap using the right arm, then shake.",
+    "Use the right arm to pick and shake the yellow bottle with green label.",
+    "Lift the yellow bottle with flower design with the right arm and shake.",
+    "Grab the yellow bottle with flower design firmly, shake it, and put it down.",
+    "Use the right arm to lift and shake the smooth yellow plastic bottle.",
+    "Use the right arm to lift and shake the bottle with green and white label.",
+    "Hold the smooth yellow plastic bottle, shake it briefly.",
+    "Grab the bottle with green and white label and move it to shake.",
+    "Grip the plastic bottle using the right arm and shake.",
+    "Grab the bottle with white cap with the right arm and shake.",
+    "Grasp the bottle for liquids with the right arm and shake it.",
+    "Catch the smooth yellow plastic bottle and shake it instantly.",
+    "Using the right arm, shake the bottle with white cap and then place it back.",
+    "Lift up the plastic bottle using the right arm, then shake.",
+    "Secure the smooth yellow plastic bottle and perform a shake.",
+    "Shake the yellow bottle after grabbing it.",
+    "Shake the bottle for liquids using the right arm after grabbing.",
+    "Hold the smooth yellow plastic bottle with the right arm and shake lightly.",
+    "Secure the yellow bottle, shake it, and place it down.",
+    "Lift the plastic bottle and shake it thoroughly.",
+    "Lift the yellow bottle with cylindrical cap and shake it gently.",
+    "Shake the yellow bottle with flower design after holding it firmly.",
+    "Hold and shake the the bottle for liquids carefully.",
+    "Grab the smooth yellow plastic bottle and give it a shake.",
+    "Lift the bottle with green and white label with the right arm and give it a shake.",
+    "Pick up the yellow bottle with flower design and shake it well.",
+    "Hold the yellow body bottle and shake it properly.",
+    "Pick the bottle for liquids and perform shaking motion.",
+    "With the right arm, pick the smooth yellow plastic bottle and shake properly.",
+    "Pick the yellow bottle with flower design up with the right arm and shake.",
+    "Use the right arm to hold the yellow bottle with green label and shake it.",
+    "Use the right arm to grab the rectangular bottle and shake properly.",
+    "Hold the rectangular bottle steady, then shake it.",
+    "Grab the smooth yellow plastic bottle and shake it steadily.",
+    "Take the smooth yellow plastic bottle using the right arm and give it a shake.",
+    "Utilize the right arm to hold the bottle with green and white label and shake it.",
+    "Shake the yellow bottle firmly after grabbing.",
+    "Shake the yellow body bottle thoroughly after grabbing it.",
+    "Pick the yellow bottle with green label up using the right arm and shake it.",
+    "Shake the rectangular bottle after grabbing it.",
+    "Lift the plastic bottle with the right arm and shake it.",
+    "Grab the bottle with white cap carefully and shake.",
+    "Shake the smooth yellow plastic bottle after lifting it.",
+    "Grab and shake the bottle with white cap using the right arm.",
+    "Shake the the rectangular bottle properly after lifting.",
+    "Use the right arm to lift and shake the yellow bottle with flower design.",
+    "Pick up the yellow bottle with cylindrical cap and shake it.",
+    "Shake the yellow bottle with flower design after grabbing it.",
+    "Pick the rectangular bottle, shake it with the right arm.",
+    "Use the right arm to grab the bottle with green and white label and shake it.",
+    "Grab the yellow bottle using the right arm, then shake.",
+    "Use the right arm to pick and shake the yellow bottle.",
+    "Lift the yellow bottle with flower design with the right arm and shake."
+  ],
+  "unseen": [
+    "Grab the medium bottle and shake it.",
+    "Use the right arm to grab the medium bottle and shake.",
+    "Grab the bottle with printed label, shake it properly, then set it down.",
+    "Pick up the bottle with rounded edges with the right arm and shake.",
+    "Pick up the medium bottle and shake it.",
+    "Use the right arm to pick the bottle with printed label.",
+    "Grab the bottle with rounded edges and give it a shake.",
+    "Pick and shake the the bottle with printed label with the right arm.",
+    "Shake the medium bottle after picking it with the right arm.",
+    "Pick up the bottle with rounded edges and shake it.",
+    "Grab the medium bottle and shake it.",
+    "Use the right arm to grab the bottle with rounded edges and shake.",
+    "Grab the bottle with rounded edges, shake it properly, then set it down.",
+    "Pick up the bottle with printed label with the right arm and shake.",
+    "Pick up the bottle with rounded edges and shake it.",
+    "Use the right arm to pick the medium bottle.",
+    "Grab the medium bottle and give it a shake.",
+    "Pick and shake the the bottle with printed label with the right arm.",
+    "Shake the bottle with rounded edges after picking it with the right arm.",
+    "Pick up the bottle with printed label and shake it.",
+    "Grab the bottle with rounded edges and shake it.",
+    "Use the right arm to grab the bottle with printed label and shake.",
+    "Grab the bottle with printed label, shake it properly, then set it down.",
+    "Pick up the bottle with rounded edges with the right arm and shake.",
+    "Pick up the bottle with rounded edges and shake it.",
+    "Use the right arm to pick the bottle with rounded edges.",
+    "Grab the bottle with rounded edges and give it a shake.",
+    "Pick and shake the the bottle with printed label with the right arm.",
+    "Shake the bottle with printed label after picking it with the right arm.",
+    "Pick up the medium bottle and shake it.",
+    "Grab the bottle with printed label and shake it.",
+    "Use the right arm to grab the medium bottle and shake.",
+    "Grab the bottle with rounded edges, shake it properly, then set it down.",
+    "Pick up the medium bottle with the right arm and shake.",
+    "Pick up the medium bottle and shake it.",
+    "Use the right arm to pick the bottle with rounded edges.",
+    "Grab the bottle with printed label and give it a shake.",
+    "Pick and shake the the bottle with rounded edges with the right arm.",
+    "Shake the medium bottle after picking it with the right arm.",
+    "Pick up the medium bottle and shake it.",
+    "Grab the bottle with printed label and shake it.",
+    "Use the right arm to grab the medium bottle and shake.",
+    "Grab the bottle with rounded edges, shake it properly, then set it down.",
+    "Pick up the bottle with printed label with the right arm and shake.",
+    "Pick up the bottle with printed label and shake it.",
+    "Use the right arm to pick the medium bottle.",
+    "Grab the bottle with rounded edges and give it a shake.",
+    "Pick and shake the the bottle with rounded edges with the right arm.",
+    "Shake the bottle with rounded edges after picking it with the right arm.",
+    "Pick up the bottle with rounded edges and shake it.",
+    "Grab the bottle with rounded edges and shake it.",
+    "Use the right arm to grab the medium bottle and shake.",
+    "Grab the medium bottle, shake it properly, then set it down.",
+    "Pick up the bottle with printed label with the right arm and shake.",
+    "Pick up the bottle with printed label and shake it.",
+    "Use the right arm to pick the medium bottle.",
+    "Grab the bottle with printed label and give it a shake.",
+    "Pick and shake the the medium bottle with the right arm.",
+    "Shake the medium bottle after picking it with the right arm.",
+    "Pick up the bottle with rounded edges and shake it.",
+    "Grab the bottle with printed label and shake it.",
+    "Use the right arm to grab the medium bottle and shake.",
+    "Grab the medium bottle, shake it properly, then set it down.",
+    "Pick up the medium bottle with the right arm and shake.",
+    "Pick up the bottle with printed label and shake it.",
+    "Use the right arm to pick the bottle with rounded edges.",
+    "Grab the bottle with rounded edges and give it a shake.",
+    "Pick and shake the the bottle with printed label with the right arm.",
+    "Shake the bottle with rounded edges after picking it with the right arm.",
+    "Pick up the bottle with printed label and shake it.",
+    "Grab the bottle with printed label and shake it.",
+    "Use the right arm to grab the bottle with rounded edges and shake.",
+    "Grab the bottle with rounded edges, shake it properly, then set it down.",
+    "Pick up the medium bottle with the right arm and shake.",
+    "Pick up the bottle with printed label and shake it.",
+    "Use the right arm to pick the bottle with printed label.",
+    "Grab the medium bottle and give it a shake.",
+    "Pick and shake the the bottle with printed label with the right arm.",
+    "Shake the bottle with printed label after picking it with the right arm.",
+    "Pick up the bottle with printed label and shake it.",
+    "Grab the bottle with rounded edges and shake it.",
+    "Use the right arm to grab the bottle with printed label and shake.",
+    "Grab the bottle with printed label, shake it properly, then set it down.",
+    "Pick up the bottle with rounded edges with the right arm and shake.",
+    "Pick up the bottle with printed label and shake it.",
+    "Use the right arm to pick the bottle with rounded edges.",
+    "Grab the bottle with printed label and give it a shake.",
+    "Pick and shake the the bottle with printed label with the right arm.",
+    "Shake the bottle with printed label after picking it with the right arm.",
+    "Pick up the bottle with rounded edges and shake it.",
+    "Grab the bottle with rounded edges and shake it.",
+    "Use the right arm to grab the bottle with rounded edges and shake.",
+    "Grab the bottle with rounded edges, shake it properly, then set it down.",
+    "Pick up the bottle with rounded edges with the right arm and shake.",
+    "Pick up the medium bottle and shake it.",
+    "Use the right arm to pick the bottle with printed label.",
+    "Grab the medium bottle and give it a shake.",
+    "Pick and shake the the bottle with printed label with the right arm.",
+    "Shake the bottle with printed label after picking it with the right arm.",
+    "Pick up the medium bottle and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008252.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008252.json
new file mode 100644
index 0000000000000000000000000000000000000000..57a4eca5753b0a26f8d3e52c5bcc7b92bf0d0d22
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008252.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the plastic drink bottle after grabbing it.",
+    "Take the Coca-Cola bottle using the left arm and give it a shake.",
+    "Using the left arm, shake the medium dark brown bottle and then place it back.",
+    "Grasp the narrow-necked bottle with the left arm and shake it.",
+    "Lift up the dark drink bottle with logo using the left arm, then shake.",
+    "Shake the smooth bottle with red lid firmly after grabbing.",
+    "Pick the red-capped bottle up using the left arm and shake it.",
+    "Pick up the dark drink bottle with logo and shake it well.",
+    "Secure the bottle with ridges on bottom, shake it, and place it down.",
+    "Lift the plastic drink bottle with the left arm and shake.",
+    "Grab the smooth bottle with red lid carefully and shake.",
+    "Utilize the left arm to hold the bottle with ridges on bottom and shake it.",
+    "Use the left arm to grab the brown bottle with red label and shake properly.",
+    "Hold the medium dark brown bottle steady, then shake it.",
+    "Pick the narrow-necked bottle and perform shaking motion.",
+    "Catch the medium dark brown bottle and shake it instantly.",
+    "Lift the dark drink bottle with logo and shake it thoroughly.",
+    "Use the left arm to lift and shake the narrow-necked bottle.",
+    "Shake the hand-sized soda bottle after grabbing it.",
+    "Use the left arm to pick and shake the Coca-Cola bottle.",
+    "Hold the smooth bottle with red lid with the left arm and shake lightly.",
+    "Grab and shake the dark drink bottle with logo using the left arm.",
+    "Lift the long thin bottle with the left arm and give it a shake.",
+    "Shake the narrow-necked bottle after holding it firmly.",
+    "Grab the hand-sized soda bottle using the left arm, then shake.",
+    "Grab the brown bottle with red label and shake it steadily.",
+    "Pick up the dark drink bottle with logo and shake it.",
+    "Hold the dark drink bottle with logo, shake it briefly.",
+    "Pick the red-capped bottle up with the left arm and shake.",
+    "Lift the plastic drink bottle and shake it gently.",
+    "Shake the the bottle with ridges on bottom properly after lifting.",
+    "With the left arm, pick the red-capped bottle and shake properly.",
+    "Hold the plastic drink bottle and shake it properly.",
+    "Shake the dark drink bottle with logo thoroughly after grabbing it.",
+    "Grab the red-capped bottle and move it to shake.",
+    "Lift the smooth bottle with red lid with the left arm and shake it.",
+    "Grab the plastic drink bottle and give it a shake.",
+    "Secure the bottle with ridges on bottom and perform a shake.",
+    "Use the left arm to grab the long thin bottle and shake it.",
+    "Use the left arm to lift and shake the narrow-necked bottle.",
+    "Grab the red-capped bottle with the left arm and shake.",
+    "Use the left arm to lift and shake the bottle with ridges on bottom.",
+    "Shake the plastic drink bottle using the left arm after grabbing.",
+    "Grip the Coca-Cola bottle using the left arm and shake.",
+    "Use the left arm to hold the bottle with white neck and red top and shake it.",
+    "Grab the Coca-Cola bottle firmly, shake it, and put it down.",
+    "Pick the smooth bottle with red lid, shake it with the left arm.",
+    "Hold and shake the the smooth bottle with red lid carefully.",
+    "Shake the smooth bottle with red lid after grabbing it.",
+    "Shake the plastic drink bottle after lifting it.",
+    "Shake the plastic drink bottle after grabbing it.",
+    "Take the bottle with white neck and red top using the left arm and give it a shake.",
+    "Using the left arm, shake the narrow-necked bottle and then place it back.",
+    "Grasp the red-capped bottle with the left arm and shake it.",
+    "Lift up the dark drink bottle with logo using the left arm, then shake.",
+    "Shake the red-capped bottle firmly after grabbing.",
+    "Pick the long thin bottle up using the left arm and shake it.",
+    "Pick up the long thin bottle and shake it well.",
+    "Secure the medium dark brown bottle, shake it, and place it down.",
+    "Lift the Coca-Cola bottle with the left arm and shake.",
+    "Grab the smooth bottle with red lid carefully and shake.",
+    "Utilize the left arm to hold the dark drink bottle with logo and shake it.",
+    "Use the left arm to grab the brown bottle with red label and shake properly.",
+    "Hold the plastic drink bottle steady, then shake it.",
+    "Pick the dark drink bottle with logo and perform shaking motion.",
+    "Catch the dark drink bottle with logo and shake it instantly.",
+    "Lift the plastic drink bottle and shake it thoroughly.",
+    "Use the left arm to lift and shake the plastic drink bottle.",
+    "Shake the bottle with white neck and red top after grabbing it.",
+    "Use the left arm to pick and shake the red-capped bottle.",
+    "Hold the narrow-necked bottle with the left arm and shake lightly.",
+    "Grab and shake the bottle with white neck and red top using the left arm.",
+    "Lift the Coca-Cola bottle with the left arm and give it a shake.",
+    "Shake the plastic drink bottle after holding it firmly.",
+    "Grab the bottle with ridges on bottom using the left arm, then shake.",
+    "Grab the medium dark brown bottle and shake it steadily.",
+    "Pick up the long thin bottle and shake it.",
+    "Hold the narrow-necked bottle, shake it briefly.",
+    "Pick the red-capped bottle up with the left arm and shake.",
+    "Lift the smooth bottle with red lid and shake it gently.",
+    "Shake the the medium dark brown bottle properly after lifting.",
+    "With the left arm, pick the brown bottle with red label and shake properly.",
+    "Hold the bottle with ridges on bottom and shake it properly.",
+    "Shake the Coca-Cola bottle thoroughly after grabbing it.",
+    "Grab the long thin bottle and move it to shake.",
+    "Lift the red-capped bottle with the left arm and shake it.",
+    "Grab the narrow-necked bottle and give it a shake.",
+    "Secure the medium dark brown bottle and perform a shake.",
+    "Use the left arm to grab the long thin bottle and shake it.",
+    "Use the left arm to lift and shake the red-capped bottle.",
+    "Grab the medium dark brown bottle with the left arm and shake.",
+    "Use the left arm to lift and shake the plastic drink bottle.",
+    "Shake the Coca-Cola bottle using the left arm after grabbing.",
+    "Grip the bottle with white neck and red top using the left arm and shake.",
+    "Use the left arm to hold the narrow-necked bottle and shake it.",
+    "Grab the plastic drink bottle firmly, shake it, and put it down.",
+    "Pick the plastic drink bottle, shake it with the left arm.",
+    "Hold and shake the the narrow-necked bottle carefully.",
+    "Shake the medium dark brown bottle after grabbing it.",
+    "Shake the plastic drink bottle after lifting it."
+  ],
+  "unseen": [
+    "Pick up the plastic soda bottle with the left arm and shake.",
+    "Grab the brown bottle and give it a shake.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Pick and shake the the plastic soda bottle with the left arm.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Use the left arm to pick the plastic soda bottle.",
+    "Grab the brown bottle and shake it.",
+    "Shake the brown bottle after picking it with the left arm.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the plastic soda bottle with the left arm and shake.",
+    "Grab the brown bottle and give it a shake.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Use the left arm to pick the plastic soda bottle.",
+    "Grab the brown bottle and shake it.",
+    "Shake the bottle with red screw cap after picking it with the left arm.",
+    "Use the left arm to grab the bottle with red screw cap and shake.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Pick up the brown bottle with the left arm and shake.",
+    "Grab the brown bottle and give it a shake.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Use the left arm to pick the plastic soda bottle.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Shake the brown bottle after picking it with the left arm.",
+    "Use the left arm to grab the plastic soda bottle and shake.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Pick up the bottle with red screw cap with the left arm and shake.",
+    "Grab the bottle with red screw cap and give it a shake.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Pick and shake the the plastic soda bottle with the left arm.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Use the left arm to pick the brown bottle.",
+    "Grab the plastic soda bottle and shake it.",
+    "Shake the bottle with red screw cap after picking it with the left arm.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Pick up the bottle with red screw cap with the left arm and shake.",
+    "Grab the brown bottle and give it a shake.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Pick up the brown bottle and shake it.",
+    "Use the left arm to pick the brown bottle.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Shake the plastic soda bottle after picking it with the left arm.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Pick up the plastic soda bottle with the left arm and shake.",
+    "Grab the bottle with red screw cap and give it a shake.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Pick and shake the the plastic soda bottle with the left arm.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Use the left arm to pick the brown bottle.",
+    "Grab the brown bottle and shake it.",
+    "Shake the brown bottle after picking it with the left arm.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Pick up the bottle with red screw cap with the left arm and shake.",
+    "Grab the brown bottle and give it a shake.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Pick and shake the the bottle with red screw cap with the left arm.",
+    "Pick up the brown bottle and shake it.",
+    "Use the left arm to pick the bottle with red screw cap.",
+    "Grab the brown bottle and shake it.",
+    "Shake the bottle with red screw cap after picking it with the left arm.",
+    "Use the left arm to grab the plastic soda bottle and shake.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Pick up the brown bottle with the left arm and shake.",
+    "Grab the bottle with red screw cap and give it a shake.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Pick and shake the the plastic soda bottle with the left arm.",
+    "Pick up the brown bottle and shake it.",
+    "Use the left arm to pick the brown bottle.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Shake the bottle with red screw cap after picking it with the left arm.",
+    "Use the left arm to grab the bottle with red screw cap and shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the bottle with red screw cap with the left arm and shake.",
+    "Grab the brown bottle and give it a shake.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Pick and shake the the plastic soda bottle with the left arm.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Use the left arm to pick the bottle with red screw cap.",
+    "Grab the plastic soda bottle and shake it.",
+    "Shake the brown bottle after picking it with the left arm.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the plastic soda bottle with the left arm and shake.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Pick and shake the the plastic soda bottle with the left arm.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Use the left arm to pick the brown bottle.",
+    "Grab the brown bottle and shake it.",
+    "Shake the plastic soda bottle after picking it with the left arm.",
+    "Use the left arm to grab the plastic soda bottle and shake.",
+    "Pick up the plastic soda bottle and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008301.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008301.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3593524a87fc3e6541dddde20940263610c24d9
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008301.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to hold the smooth green bottle and shake it.",
+    "Pick the handheld green bottle and perform shaking motion.",
+    "Take the bottle with narrow top using the right arm and give it a shake.",
+    "Grasp the bottle with white printed label with the right arm and shake it.",
+    "Pick the smooth green plastic bottle, shake it with the right arm.",
+    "Lift the medium-sized green bottle and shake it gently.",
+    "Use the right arm to grab the bottle with ridges near base and shake properly.",
+    "Hold the medium-sized green bottle steady, then shake it.",
+    "Pick up the bottle with white printed label and shake it well.",
+    "Secure the smooth green plastic bottle, shake it, and place it down.",
+    "Shake the plastic bottle after grabbing it.",
+    "Grab the bottle with narrow top and move it to shake.",
+    "Use the right arm to grab the plastic bottle and shake it.",
+    "Using the right arm, shake the plastic bottle and then place it back.",
+    "Utilize the right arm to hold the smooth green plastic bottle and shake it.",
+    "Lift up the green bottle with indented base using the right arm, then shake.",
+    "Pick the bottle with white printed label up with the right arm and shake.",
+    "Grab the smooth green bottle with the right arm and shake.",
+    "Use the right arm to pick and shake the handheld green bottle.",
+    "Lift the smooth green plastic bottle and shake it thoroughly.",
+    "Grab the bottle with narrow top using the right arm, then shake.",
+    "Shake the the medium-sized green bottle properly after lifting.",
+    "Shake the medium green bottle thoroughly after grabbing it.",
+    "Pick the medium-sized green bottle up using the right arm and shake it.",
+    "Grab and shake the bottle with white printed label using the right arm.",
+    "Lift the bottle with rounded neck with the right arm and shake.",
+    "Use the right arm to lift and shake the medium-sized green bottle.",
+    "Shake the plastic bottle after lifting it.",
+    "Lift the handheld green bottle with the right arm and shake it.",
+    "Pick up the smooth green bottle and shake it.",
+    "Shake the bottle with ridges near base after holding it firmly.",
+    "Grab the medium green bottle with capped neck and shake it steadily.",
+    "Lift the bottle with rounded neck with the right arm and give it a shake.",
+    "Catch the medium green bottle with capped neck and shake it instantly.",
+    "Grab the bottle with ridges near base firmly, shake it, and put it down.",
+    "Shake the green bottle with indented base after grabbing it.",
+    "Shake the green bottle with indented base firmly after grabbing.",
+    "Grab the smooth green bottle and give it a shake.",
+    "Shake the bottle with white printed label using the right arm after grabbing.",
+    "Grip the handheld green bottle using the right arm and shake.",
+    "Use the right arm to lift and shake the bottle with white printed label.",
+    "Use the right arm to lift and shake the medium green bottle.",
+    "Hold the bottle with rounded neck, shake it briefly.",
+    "Secure the bottle with ridges near base and perform a shake.",
+    "Hold the medium-sized green bottle and shake it properly.",
+    "Hold the green bottle with indented base with the right arm and shake lightly.",
+    "With the right arm, pick the smooth green plastic bottle and shake properly.",
+    "Grab the medium green bottle with capped neck carefully and shake.",
+    "Hold and shake the the bottle with narrow top carefully.",
+    "Shake the medium green bottle with capped neck after grabbing it.",
+    "Use the right arm to hold the medium-sized green bottle and shake it.",
+    "Pick the bottle with narrow top and perform shaking motion.",
+    "Take the bottle with rounded neck using the right arm and give it a shake.",
+    "Grasp the green bottle with indented base with the right arm and shake it.",
+    "Pick the green bottle with indented base, shake it with the right arm.",
+    "Lift the bottle with narrow top and shake it gently.",
+    "Use the right arm to grab the medium green bottle with capped neck and shake properly.",
+    "Hold the medium-sized green bottle steady, then shake it.",
+    "Pick up the medium-sized green bottle and shake it well.",
+    "Secure the medium-sized green bottle, shake it, and place it down.",
+    "Shake the smooth green plastic bottle after grabbing it.",
+    "Grab the medium green bottle and move it to shake.",
+    "Use the right arm to grab the handheld green bottle and shake it.",
+    "Using the right arm, shake the bottle with rounded neck and then place it back.",
+    "Utilize the right arm to hold the green bottle with indented base and shake it.",
+    "Lift up the bottle with rounded neck using the right arm, then shake.",
+    "Pick the medium green bottle with capped neck up with the right arm and shake.",
+    "Grab the green bottle with indented base with the right arm and shake.",
+    "Use the right arm to pick and shake the bottle with rounded neck.",
+    "Lift the bottle with white printed label and shake it thoroughly.",
+    "Grab the plastic bottle using the right arm, then shake.",
+    "Shake the the bottle with narrow top properly after lifting.",
+    "Shake the medium green bottle with capped neck thoroughly after grabbing it.",
+    "Pick the green bottle with indented base up using the right arm and shake it.",
+    "Grab and shake the bottle with white printed label using the right arm.",
+    "Lift the bottle with narrow top with the right arm and shake.",
+    "Use the right arm to lift and shake the handheld green bottle.",
+    "Shake the medium green bottle with capped neck after lifting it.",
+    "Lift the bottle with white printed label with the right arm and shake it.",
+    "Pick up the green bottle with indented base and shake it.",
+    "Shake the medium-sized green bottle after holding it firmly.",
+    "Grab the smooth green plastic bottle and shake it steadily.",
+    "Lift the medium green bottle with capped neck with the right arm and give it a shake.",
+    "Catch the medium-sized green bottle and shake it instantly.",
+    "Grab the handheld green bottle firmly, shake it, and put it down.",
+    "Shake the bottle with white printed label after grabbing it.",
+    "Shake the bottle with ridges near base firmly after grabbing.",
+    "Grab the bottle with white printed label and give it a shake.",
+    "Shake the bottle with ridges near base using the right arm after grabbing.",
+    "Grip the bottle with narrow top using the right arm and shake.",
+    "Use the right arm to lift and shake the bottle with ridges near base.",
+    "Use the right arm to lift and shake the medium green bottle.",
+    "Hold the bottle with ridges near base, shake it briefly.",
+    "Secure the medium green bottle with capped neck and perform a shake.",
+    "Hold the smooth green bottle and shake it properly.",
+    "Hold the bottle with narrow top with the right arm and shake lightly.",
+    "With the right arm, pick the smooth green plastic bottle and shake properly.",
+    "Grab the medium green bottle with capped neck carefully and shake.",
+    "Hold and shake the the medium-sized green bottle carefully.",
+    "Shake the medium green bottle with capped neck after grabbing it."
+  ],
+  "unseen": [
+    "Pick and shake the the green plastic bottle with ridged bottom with the right arm.",
+    "Use the right arm to grab the green bottle and shake.",
+    "Use the right arm to pick the green bottle with white label.",
+    "Grab the green bottle and shake it.",
+    "Shake the green bottle after picking it with the right arm.",
+    "Pick up the green bottle and shake it.",
+    "Pick up the green bottle with white label and shake it.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Grab the green bottle and give it a shake.",
+    "Pick up the green plastic bottle with ridged bottom with the right arm and shake.",
+    "Pick and shake the the green bottle with the right arm.",
+    "Use the right arm to grab the green bottle and shake.",
+    "Use the right arm to pick the green bottle with white label.",
+    "Grab the green bottle with white label and shake it.",
+    "Shake the green bottle with white label after picking it with the right arm.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Pick up the green bottle and shake it.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Grab the green bottle and give it a shake.",
+    "Pick up the green plastic bottle with ridged bottom with the right arm and shake.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the right arm.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Use the right arm to pick the green bottle with white label.",
+    "Grab the green bottle with white label and shake it.",
+    "Shake the green bottle after picking it with the right arm.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Grab the green bottle and give it a shake.",
+    "Pick up the green bottle with white label with the right arm and shake.",
+    "Pick and shake the the green bottle with the right arm.",
+    "Use the right arm to grab the green bottle and shake.",
+    "Use the right arm to pick the green bottle.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Shake the green bottle after picking it with the right arm.",
+    "Pick up the green bottle and shake it.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Pick up the green plastic bottle with ridged bottom with the right arm and shake.",
+    "Pick and shake the the green bottle with the right arm.",
+    "Use the right arm to grab the green bottle and shake.",
+    "Use the right arm to pick the green bottle.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Shake the green bottle with white label after picking it with the right arm.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Pick up the green bottle with white label and shake it.",
+    "Grab the green bottle with white label, shake it properly, then set it down.",
+    "Grab the green bottle and give it a shake.",
+    "Pick up the green plastic bottle with ridged bottom with the right arm and shake.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the right arm.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Use the right arm to pick the green plastic bottle with ridged bottom.",
+    "Grab the green bottle with white label and shake it.",
+    "Shake the green bottle with white label after picking it with the right arm.",
+    "Pick up the green bottle and shake it.",
+    "Pick up the green bottle with white label and shake it.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "Pick up the green bottle with the right arm and shake.",
+    "Pick and shake the the green bottle with the right arm.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Use the right arm to pick the green plastic bottle with ridged bottom.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Shake the green bottle after picking it with the right arm.",
+    "Pick up the green bottle with white label and shake it.",
+    "Pick up the green bottle with white label and shake it.",
+    "Grab the green bottle with white label, shake it properly, then set it down.",
+    "Grab the green bottle and give it a shake.",
+    "Pick up the green bottle with the right arm and shake.",
+    "Pick and shake the the green bottle with the right arm.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Use the right arm to pick the green bottle.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Shake the green plastic bottle with ridged bottom after picking it with the right arm.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Grab the green bottle and give it a shake.",
+    "Pick up the green bottle with white label with the right arm and shake.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the right arm.",
+    "Use the right arm to grab the green bottle and shake.",
+    "Use the right arm to pick the green plastic bottle with ridged bottom.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Shake the green plastic bottle with ridged bottom after picking it with the right arm.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Pick up the green plastic bottle with ridged bottom with the right arm and shake.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the right arm.",
+    "Use the right arm to grab the green bottle and shake.",
+    "Use the right arm to pick the green bottle with white label.",
+    "Grab the green bottle with white label and shake it.",
+    "Shake the green bottle with white label after picking it with the right arm.",
+    "Pick up the green bottle and shake it.",
+    "Pick up the green bottle with white label and shake it.",
+    "Grab the green bottle with white label, shake it properly, then set it down.",
+    "Grab the green bottle and give it a shake.",
+    "Pick up the green bottle with white label with the right arm and shake."
+  ]
+}
\ No newline at end of file