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piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001004.json

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+{
+  "seen": [
+    "Lift the yellow label bottle and shake it thoroughly.",
+    "Grab the smooth plastic bottle using the right arm, then shake.",
+    "Grab and shake the bottle with orange cap using the right arm.",
+    "Shake the smooth plastic bottle after grabbing it.",
+    "Use the right arm to lift and shake the orange bottle.",
+    "With the right arm, pick the drinking bottle with yellow label and shake properly.",
+    "Use the right arm to pick and shake the orange bottle.",
+    "Shake the medium orange bottle thoroughly after grabbing it.",
+    "Lift the medium bottle with orange lid with the right arm and shake it.",
+    "Hold the yellow label bottle with the right arm and shake lightly.",
+    "Grab the bottle with orange cap and move it to shake.",
+    "Shake the drinking bottle with yellow label using the right arm after grabbing.",
+    "Shake the medium orange bottle after grabbing it.",
+    "Pick the smooth plastic bottle up using the right arm and shake it.",
+    "Hold the plastic bottle steady, then shake it.",
+    "Shake the plastic bottle after grabbing it.",
+    "Grab the white and orange plastic bottle with the right arm and shake.",
+    "Use the right arm to lift and shake the cylindrical orange and white bottle.",
+    "Use the right arm to grab the cylindrical orange and white bottle and shake properly.",
+    "Shake the white and orange plastic bottle after holding it firmly.",
+    "Shake the orange and white bottle with cap firmly after grabbing.",
+    "Grab the white and orange plastic bottle and give it a shake.",
+    "Hold the yellow label bottle, shake it briefly.",
+    "Pick up the drinking bottle with yellow label and shake it.",
+    "Lift up the orange and white bottle with cap using the right arm, then shake.",
+    "Pick the bottle with orange cap up with the right arm and shake.",
+    "Grab the orange bottle carefully and shake.",
+    "Grip the white and orange plastic bottle using the right arm and shake.",
+    "Pick the drinking bottle with yellow label, shake it with the right arm.",
+    "Catch the yellow label bottle and shake it instantly.",
+    "Lift the bottle with ribbed orange bottom and shake it gently.",
+    "Shake the the plastic bottle properly after lifting.",
+    "Utilize the right arm to hold the orange and white bottle with cap and shake it.",
+    "Grab the smooth plastic bottle firmly, shake it, and put it down.",
+    "Shake the yellow label bottle after lifting it.",
+    "Use the right arm to lift and shake the medium bottle with orange lid.",
+    "Secure the bottle with orange cap, shake it, and place it down.",
+    "Pick the bottle with ribbed orange bottom and perform shaking motion.",
+    "Using the right arm, shake the yellow label bottle and then place it back.",
+    "Grasp the yellow label bottle with the right arm and shake it.",
+    "Grab the drinking bottle with yellow label and shake it steadily.",
+    "Pick up the orange bottle and shake it well.",
+    "Use the right arm to grab the white and orange plastic bottle and shake it.",
+    "Lift the smooth plastic bottle with the right arm and give it a shake.",
+    "Secure the plastic bottle and perform a shake.",
+    "Take the medium orange bottle using the right arm and give it a shake.",
+    "Hold and shake the the orange bottle carefully.",
+    "Use the right arm to hold the plastic bottle and shake it.",
+    "Lift the medium bottle with orange lid with the right arm and shake.",
+    "Hold the orange bottle and shake it properly.",
+    "Lift the plastic bottle and shake it thoroughly.",
+    "Grab the cylindrical orange and white bottle using the right arm, then shake.",
+    "Grab and shake the orange bottle using the right arm.",
+    "Shake the orange bottle after grabbing it.",
+    "Use the right arm to lift and shake the orange and white bottle with cap.",
+    "With the right arm, pick the medium bottle with orange lid and shake properly.",
+    "Use the right arm to pick and shake the medium bottle with orange lid.",
+    "Shake the medium bottle with orange lid thoroughly after grabbing it.",
+    "Lift the smooth plastic bottle with the right arm and shake it.",
+    "Hold the cylindrical orange and white bottle with the right arm and shake lightly.",
+    "Grab the plastic bottle and move it to shake.",
+    "Shake the orange bottle using the right arm after grabbing.",
+    "Shake the white and orange plastic bottle after grabbing it.",
+    "Pick the cylindrical orange and white bottle up using the right arm and shake it.",
+    "Hold the orange bottle steady, then shake it.",
+    "Shake the medium orange bottle after grabbing it.",
+    "Grab the cylindrical orange and white bottle with the right arm and shake.",
+    "Use the right arm to lift and shake the cylindrical orange and white bottle.",
+    "Use the right arm to grab the bottle with ribbed orange bottom and shake properly.",
+    "Shake the orange bottle after holding it firmly.",
+    "Shake the medium orange bottle firmly after grabbing.",
+    "Grab the orange and white bottle with cap and give it a shake.",
+    "Hold the bottle with orange cap, shake it briefly.",
+    "Pick up the white and orange plastic bottle and shake it.",
+    "Lift up the white and orange plastic bottle using the right arm, then shake.",
+    "Pick the bottle with ribbed orange bottom up with the right arm and shake.",
+    "Grab the medium orange bottle carefully and shake.",
+    "Grip the orange bottle using the right arm and shake.",
+    "Pick the smooth plastic bottle, shake it with the right arm.",
+    "Catch the cylindrical orange and white bottle and shake it instantly.",
+    "Lift the plastic bottle and shake it gently.",
+    "Shake the the orange bottle properly after lifting.",
+    "Utilize the right arm to hold the yellow label bottle and shake it.",
+    "Grab the orange bottle firmly, shake it, and put it down.",
+    "Shake the medium orange bottle after lifting it.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Secure the yellow label bottle, shake it, and place it down.",
+    "Pick the orange and white bottle with cap and perform shaking motion.",
+    "Using the right arm, shake the orange bottle and then place it back.",
+    "Grasp the bottle with ribbed orange bottom with the right arm and shake it.",
+    "Grab the smooth plastic bottle and shake it steadily.",
+    "Pick up the drinking bottle with yellow label and shake it well.",
+    "Use the right arm to grab the yellow label bottle and shake it.",
+    "Lift the white and orange plastic bottle with the right arm and give it a shake.",
+    "Secure the orange bottle and perform a shake.",
+    "Take the yellow label bottle using the right arm and give it a shake.",
+    "Hold and shake the the bottle with orange cap carefully.",
+    "Use the right arm to hold the white and orange plastic bottle and shake it.",
+    "Lift the drinking bottle with yellow label with the right arm and shake.",
+    "Hold the bottle with ribbed orange bottom and shake it properly."
+  ],
+  "unseen": [
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Grab 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, shake it properly, then set it down.",
+    "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 give it a shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Grab the bottle with curved body and shake it.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Grab the bottle with curved body and shake it.",
+    "Pick up 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.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Grab the bottle with curved body and shake it.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "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 give it a shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Grab the bottle with curved body and shake it.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Grab the bottle with curved body and shake it.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "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 give it a shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Grab 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, shake it properly, then set it down.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Grab 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, shake it properly, then set it down.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Grab the bottle with curved body and shake it.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001026.json

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+{
+  "seen": [
+    "Use the right arm to lift and shake the orange bottle.",
+    "Shake the bottle with yellow cap after lifting it.",
+    "Use the right arm to hold the plastic bottle with sealed yellow cap and shake it.",
+    "Hold and shake the the yellow-capped plastic bottle carefully.",
+    "Catch the yellow-capped plastic bottle and shake it instantly.",
+    "Use the right arm to grab the plastic bottle with sealed yellow cap and shake properly.",
+    "Lift the bottle for liquids with the right arm and shake.",
+    "Lift the bottle with printed label with the right arm and give it a shake.",
+    "Use the right arm to lift and shake the bottle for liquids.",
+    "Hold the orange cylindrical bottle with the right arm and shake lightly.",
+    "Pick up the smooth plastic bottle and shake it well.",
+    "Grab the bottle with yellow cap with the right arm and shake.",
+    "Secure the bottle with narrow neck and perform a shake.",
+    "Pick the orange bottle up using the right arm and shake it.",
+    "Shake the cylindrical orange bottle with yellow top using the right arm after grabbing.",
+    "Shake the orange bottle firmly after grabbing.",
+    "Hold the plastic bottle steady, then shake it.",
+    "Pick the plastic bottle, shake it with the right arm.",
+    "Grab the cylindrical orange bottle with yellow top and move it to shake.",
+    "Hold the bottle with narrow neck, shake it briefly.",
+    "Take the bottle for liquids using the right arm and give it a shake.",
+    "With the right arm, pick the medium-sized orange bottle and shake properly.",
+    "Shake the plastic bottle with sealed yellow cap after grabbing it.",
+    "Shake the cylindrical orange bottle with yellow top after grabbing it.",
+    "Grab the smooth plastic bottle firmly, shake it, and put it down.",
+    "Grab and shake the medium-sized orange bottle using the right arm.",
+    "Use the right arm to grab the medium-sized orange bottle and shake it.",
+    "Shake the the cylindrical orange bottle with yellow top properly after lifting.",
+    "Using the right arm, shake the bottle for liquids and then place it back.",
+    "Utilize the right arm to hold the smooth plastic bottle and shake it.",
+    "Use the right arm to lift and shake the smooth plastic bottle.",
+    "Lift the bottle with yellow cap and shake it gently.",
+    "Grab the plastic bottle with sealed yellow cap and shake it steadily.",
+    "Hold the medium-sized orange bottle and shake it properly.",
+    "Grab the bottle with yellow cap carefully and shake.",
+    "Pick the bottle with printed label and perform shaking motion.",
+    "Lift up the yellow-capped plastic bottle using the right arm, then shake.",
+    "Shake the medium-sized orange bottle after grabbing it.",
+    "Shake the orange bottle after holding it firmly.",
+    "Shake the smooth plastic bottle thoroughly after grabbing it.",
+    "Lift the orange bottle with the right arm and shake it.",
+    "Use the right arm to pick and shake the bottle with narrow neck.",
+    "Grab the plastic bottle using the right arm, then shake.",
+    "Grab the medium-sized orange bottle and give it a shake.",
+    "Grip the plastic bottle using the right arm and shake.",
+    "Pick up the plastic bottle with sealed yellow cap and shake it.",
+    "Grasp the cylindrical orange bottle with yellow top with the right arm and shake it.",
+    "Pick the bottle with printed label up with the right arm and shake.",
+    "Secure the cylindrical orange bottle with yellow top, shake it, and place it down.",
+    "Lift the orange cylindrical bottle and shake it thoroughly.",
+    "Use the right arm to lift and shake the cylindrical orange bottle with yellow top.",
+    "Shake the orange cylindrical bottle after lifting it.",
+    "Use the right arm to hold the orange cylindrical bottle and shake it.",
+    "Hold and shake the the bottle with yellow cap carefully.",
+    "Catch the plastic bottle and shake it instantly.",
+    "Use the right arm to grab the orange cylindrical bottle and shake properly.",
+    "Lift the medium-sized orange bottle with the right arm and shake.",
+    "Lift the bottle with printed label with the right arm and give it a shake.",
+    "Use the right arm to lift and shake the bottle with yellow cap.",
+    "Hold the bottle with narrow neck with the right arm and shake lightly.",
+    "Pick up the bottle with yellow cap and shake it well.",
+    "Grab the medium-sized orange bottle with the right arm and shake.",
+    "Secure the yellow-capped plastic bottle and perform a shake.",
+    "Pick the orange bottle up using the right arm and shake it.",
+    "Shake the plastic bottle with sealed yellow cap using the right arm after grabbing.",
+    "Shake the orange bottle firmly after grabbing.",
+    "Hold the bottle with narrow neck steady, then shake it.",
+    "Pick the bottle with narrow neck, shake it with the right arm.",
+    "Grab the bottle with yellow cap and move it to shake.",
+    "Hold the bottle with printed label, shake it briefly.",
+    "Take the medium-sized orange bottle using the right arm and give it a shake.",
+    "With the right arm, pick the orange bottle and shake properly.",
+    "Shake the plastic bottle with sealed yellow cap after grabbing it.",
+    "Shake the bottle with printed label after grabbing it.",
+    "Grab the yellow-capped plastic bottle firmly, shake it, and put it down.",
+    "Grab and shake the yellow-capped plastic bottle using the right arm.",
+    "Use the right arm to grab the cylindrical orange bottle with yellow top and shake it.",
+    "Shake the the cylindrical orange bottle with yellow top properly after lifting.",
+    "Using the right arm, shake the yellow-capped plastic bottle and then place it back.",
+    "Utilize the right arm to hold the smooth plastic bottle and shake it.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Lift the yellow-capped plastic bottle and shake it gently.",
+    "Grab the cylindrical orange bottle with yellow top and shake it steadily.",
+    "Hold the plastic bottle and shake it properly.",
+    "Grab the bottle for liquids carefully and shake.",
+    "Pick the plastic bottle with sealed yellow cap and perform shaking motion.",
+    "Lift up the plastic bottle using the right arm, then shake.",
+    "Shake the bottle for liquids after grabbing it.",
+    "Shake the yellow-capped plastic bottle after holding it firmly.",
+    "Shake the bottle with yellow cap thoroughly after grabbing it.",
+    "Lift the plastic bottle with the right arm and shake it.",
+    "Use the right arm to pick and shake the bottle with narrow neck.",
+    "Grab the yellow-capped plastic bottle using the right arm, then shake.",
+    "Grab the bottle with yellow cap and give it a shake.",
+    "Grip the medium-sized orange bottle using the right arm and shake.",
+    "Pick up the bottle with yellow cap and shake it.",
+    "Grasp the cylindrical orange bottle with yellow top with the right arm and shake it.",
+    "Pick the bottle with yellow cap up with the right arm and shake.",
+    "Secure the plastic bottle with sealed yellow cap, shake it, and place it down.",
+    "Lift the yellow-capped plastic bottle and shake it thoroughly."
+  ],
+  "unseen": [
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick up 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 handheld orange bottle and shake it.",
+    "Pick up the label-covered orange bottle with the right arm and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Shake the label-covered orange bottle after picking it with the right arm.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the orange bottle with smooth texture and shake.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the right arm.",
+    "Grab the handheld orange bottle and shake it.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Shake the label-covered orange bottle after picking it with the right arm.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Use the right arm to grab the handheld orange bottle and shake.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Use the right arm to pick the orange bottle with smooth texture.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Use the right arm to grab the orange bottle with smooth texture and shake.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick up 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 and shake it.",
+    "Pick up the label-covered orange bottle with the right arm and shake.",
+    "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.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the label-covered orange bottle and shake.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the right arm.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Shake the label-covered orange bottle after picking it with the right arm.",
+    "Use the right arm to pick the orange bottle with smooth texture.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the label-covered orange bottle and shake.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Pick up the label-covered orange bottle with the right arm and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Use the right arm to pick the orange bottle with smooth texture.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Use the right arm to grab the handheld orange bottle and shake.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick up 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 and shake it.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Use the right arm to pick the orange bottle with smooth texture.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Use the right arm to grab the orange bottle with smooth texture and shake.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick up the label-covered 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 and shake it.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the orange bottle with smooth texture and shake.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick up 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 label-covered orange bottle and shake it.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Shake the label-covered orange bottle after picking it with the right arm.",
+    "Use the right arm to pick the orange bottle with smooth texture.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Use the right arm to grab the orange bottle with smooth texture and shake.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Pick up 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 and shake it.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Shake the label-covered orange bottle after picking it with the right arm.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the orange bottle with smooth texture and shake."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001029.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the the orange bottle properly after lifting.",
+    "Hold the curved orange soda bottle with the left arm and shake lightly.",
+    "Hold the ridged orange bottle with grooves steady, then shake it.",
+    "Pick up the curved orange soda bottle and shake it.",
+    "Catch the light and medium-sized bottle and shake it instantly.",
+    "Lift the grooved orange drink bottle with the left arm and shake.",
+    "Lift the smooth orange bottle with the left arm and shake it.",
+    "Secure the bottle for holding drinks, shake it, and place it down.",
+    "Take the light and medium-sized bottle using the left arm and give it a shake.",
+    "Shake the round-bottom bottle with white cap after grabbing it.",
+    "Using the left arm, shake the round-bottom bottle with white cap and then place it back.",
+    "Grab the orange drink bottle with label with the left arm and shake.",
+    "Shake the plastic bottle after grabbing it.",
+    "Grab the plastic bottle using the left arm, then shake.",
+    "Pick up the round-bottom bottle with white cap and shake it well.",
+    "Use the left arm to lift and shake the light and medium-sized bottle.",
+    "Utilize the left arm to hold the medium bottle with colorful label and shake it.",
+    "Grasp the orange drink bottle with label with the left arm and shake it.",
+    "Use the left arm to grab the round-bottom bottle with white cap and shake properly.",
+    "Grab the ridged orange bottle with grooves and move it to shake.",
+    "Shake the smooth orange bottle after lifting it.",
+    "Grab the ridged orange bottle with grooves and shake it steadily.",
+    "Grab the smooth orange bottle and give it a shake.",
+    "Lift the curved orange soda bottle with the left arm and give it a shake.",
+    "Grab and shake the cylindrical orange plastic bottle using the left arm.",
+    "Shake the curved orange soda bottle after grabbing it.",
+    "Hold and shake the the curved orange soda bottle carefully.",
+    "Lift up the smooth orange bottle using the left arm, then shake.",
+    "Pick the bottle for holding drinks up using the left arm and shake it.",
+    "Lift the bottle for holding drinks and shake it thoroughly.",
+    "Shake the smooth orange bottle thoroughly after grabbing it.",
+    "Shake the curved orange soda bottle firmly after grabbing.",
+    "With the left arm, pick the orange bottle and shake properly.",
+    "Pick the curved orange soda bottle up with the left arm and shake.",
+    "Use the left arm to hold the orange bottle and shake it.",
+    "Secure the smooth orange bottle and perform a shake.",
+    "Grab the cylindrical orange plastic bottle firmly, shake it, and put it down.",
+    "Use the left arm to pick and shake the cylindrical orange plastic bottle.",
+    "Shake the bottle for holding drinks after holding it firmly.",
+    "Hold the round-bottom bottle with white cap and shake it properly.",
+    "Use the left arm to lift and shake the cylindrical orange plastic bottle.",
+    "Lift the ridged orange bottle with grooves and shake it gently.",
+    "Pick the curved orange soda bottle, shake it with the left arm.",
+    "Shake the orange bottle using the left arm after grabbing.",
+    "Use the left arm to grab the orange drink bottle with label and shake it.",
+    "Use the left arm to lift and shake the curved orange soda bottle.",
+    "Grip the orange drink bottle with label using the left arm and shake.",
+    "Grab the cylindrical orange plastic bottle carefully and shake.",
+    "Pick the orange bottle and perform shaking motion.",
+    "Hold the smooth orange bottle, shake it briefly.",
+    "Shake the the curved orange soda bottle properly after lifting.",
+    "Hold the round-bottom bottle with white cap with the left arm and shake lightly.",
+    "Hold the cylindrical orange plastic bottle steady, then shake it.",
+    "Pick up the ridged orange bottle with grooves and shake it.",
+    "Catch the smooth orange bottle and shake it instantly.",
+    "Lift the curved orange soda bottle with the left arm and shake.",
+    "Lift the plastic bottle with the left arm and shake it.",
+    "Secure the smooth orange bottle, shake it, and place it down.",
+    "Take the bottle for holding drinks using the left arm and give it a shake.",
+    "Shake the orange bottle after grabbing it.",
+    "Using the left arm, shake the cylindrical orange plastic bottle and then place it back.",
+    "Grab the orange bottle with the left arm and shake.",
+    "Shake the curved orange soda bottle after grabbing it.",
+    "Grab the round-bottom bottle with white cap using the left arm, then shake.",
+    "Pick up the medium bottle with colorful label and shake it well.",
+    "Use the left arm to lift and shake the orange bottle.",
+    "Utilize the left arm to hold the plastic bottle and shake it.",
+    "Grasp the smooth orange bottle with the left arm and shake it.",
+    "Use the left arm to grab the plastic bottle and shake properly.",
+    "Grab the round-bottom bottle with white cap and move it to shake.",
+    "Shake the medium bottle with colorful label after lifting it.",
+    "Grab the bottle for holding drinks and shake it steadily.",
+    "Grab the ridged orange bottle with grooves and give it a shake.",
+    "Lift the medium bottle with colorful label with the left arm and give it a shake.",
+    "Grab and shake the light and medium-sized bottle using the left arm.",
+    "Shake the bottle for holding drinks after grabbing it.",
+    "Hold and shake the the ridged orange bottle with grooves carefully.",
+    "Lift up the smooth orange bottle using the left arm, then shake.",
+    "Pick the round-bottom bottle with white cap up using the left arm and shake it.",
+    "Lift the bottle for holding drinks and shake it thoroughly.",
+    "Shake the light and medium-sized bottle thoroughly after grabbing it.",
+    "Shake the orange bottle firmly after grabbing.",
+    "With the left arm, pick the bottle for holding drinks and shake properly.",
+    "Pick the smooth orange bottle up with the left arm and shake.",
+    "Use the left arm to hold the medium bottle with colorful label and shake it.",
+    "Secure the orange drink bottle with label and perform a shake.",
+    "Grab the medium bottle with colorful label firmly, shake it, and put it down.",
+    "Use the left arm to pick and shake the bottle for holding drinks.",
+    "Shake the curved orange soda bottle after holding it firmly.",
+    "Hold the medium bottle with colorful label and shake it properly.",
+    "Use the left arm to lift and shake the orange drink bottle with label.",
+    "Lift the orange bottle and shake it gently.",
+    "Pick the plastic bottle, shake it with the left arm.",
+    "Shake the ridged orange bottle with grooves using the left arm after grabbing.",
+    "Use the left arm to grab the grooved orange drink bottle and shake it.",
+    "Use the left arm to lift and shake the orange drink bottle with label.",
+    "Grip the round-bottom bottle with white cap using the left arm and shake.",
+    "Grab the light and medium-sized bottle carefully and shake.",
+    "Pick the ridged orange bottle with grooves and perform shaking motion.",
+    "Hold the orange bottle, shake it briefly."
+  ],
+  "unseen": [
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Shake the bottle with ridged orange grip after picking it with the left arm.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Use the left arm to pick the white capped orange plastic bottle.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Pick up the bottle with ridged orange grip with the left arm and shake.",
+    "Pick and shake the the bottle with white cap with the left arm.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Use the left arm to grab the bottle with ridged orange grip and shake.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Shake the white capped orange plastic bottle after picking it with the left arm.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Use the left arm to pick the bottle with ridged orange grip.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with ridged orange grip with the left arm and shake.",
+    "Pick and shake the the bottle with white cap with the left arm.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Use the left arm to grab the white capped orange plastic bottle and shake.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Shake the white capped orange plastic bottle after picking it with the left arm.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Use the left arm to pick the white capped orange plastic bottle.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Pick up the white capped orange plastic bottle with the left arm and shake.",
+    "Pick and shake the the bottle with white cap with the left arm.",
+    "Pick up the bottle with white cap and shake it.",
+    "Use the left arm to grab the white capped orange plastic bottle and shake.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Shake the bottle with white cap after picking it with the left arm.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Use the left arm to pick the bottle with white cap.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Pick up the bottle with ridged orange grip with the left arm and shake.",
+    "Pick and shake the the bottle with white cap with the left arm.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Use the left arm to grab the bottle with ridged orange grip and shake.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Shake the bottle with white cap after picking it with the left arm.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Use the left arm to pick the bottle with white cap.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with white cap with the left arm and shake.",
+    "Pick and shake the the bottle with white cap with the left arm.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Use the left arm to grab the bottle with white cap and shake.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Shake the bottle with ridged orange grip after picking it with the left arm.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Use the left arm to pick the bottle with ridged orange grip.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Pick up the white capped orange plastic bottle with the left arm and shake.",
+    "Pick and shake the the white capped orange plastic bottle with the left arm.",
+    "Pick up the bottle with white cap and shake it.",
+    "Use the left arm to grab the bottle with white cap and shake.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Shake the bottle with white cap after picking it with the left arm.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Use the left arm to pick the bottle with white cap.",
+    "Grab the bottle with white cap and shake it.",
+    "Pick up the white capped orange plastic bottle with the left arm and shake.",
+    "Pick and shake the the bottle with ridged orange grip with the left arm.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Use the left arm to grab the white capped orange plastic bottle and shake.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Shake the bottle with white cap after picking it with the left arm.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Use the left arm to pick the white capped orange plastic bottle.",
+    "Grab the bottle with white cap and shake it.",
+    "Pick up the white capped orange plastic bottle with the left arm and shake.",
+    "Pick and shake the the bottle with ridged orange grip with the left arm.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Use the left arm to grab the bottle with white cap and shake.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Shake the bottle with white cap after picking it with the left arm.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Use the left arm to pick the bottle with white cap.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Pick up the bottle with ridged orange grip with the left arm and shake.",
+    "Pick and shake the the bottle with ridged orange grip with the left arm.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Use the left arm to grab the bottle with ridged orange grip and shake.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Shake the white capped orange plastic bottle after picking it with the left arm.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Use the left arm to pick the bottle with white cap.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with white cap with the left arm and shake.",
+    "Pick and shake the the bottle with ridged orange grip with the left arm.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Use the left arm to grab the bottle with white cap and shake."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001043.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the bottle with white printed label and shake it steadily.",
+    "Grab the green bottle with indented base and move it to shake.",
+    "Grip the medium green bottle using the right arm and shake.",
+    "Secure the handheld green bottle, shake it, and place it down.",
+    "Hold the smooth green bottle and shake it properly.",
+    "Grab the medium green bottle with capped neck firmly, shake it, and put it down.",
+    "Grab the plastic bottle carefully and shake.",
+    "Grab the smooth green plastic bottle and give it a shake.",
+    "Grab the bottle with white printed label using the right arm, then shake.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Use the right arm to grab the bottle with narrow top and shake properly.",
+    "Grasp the green bottle with indented base with the right arm and shake it.",
+    "Shake the medium-sized green bottle using the right arm after grabbing.",
+    "Grab and shake the smooth green plastic bottle using the right arm.",
+    "Use the right arm to lift and shake the bottle with rounded neck.",
+    "Shake the bottle with narrow top after lifting it.",
+    "Grab the handheld green bottle with the right arm and shake.",
+    "Utilize the right arm to hold the bottle with ridges near base and shake it.",
+    "Shake the medium green bottle after grabbing it.",
+    "Hold the plastic bottle, shake it briefly.",
+    "Lift the bottle with ridges near base and shake it thoroughly.",
+    "Shake the medium-sized green bottle firmly after grabbing.",
+    "Secure the plastic bottle and perform a shake.",
+    "Shake the bottle with narrow top after grabbing it.",
+    "Pick the plastic bottle, shake it with the right arm.",
+    "Pick up the bottle with narrow top and shake it.",
+    "Use the right arm to hold the handheld green bottle and shake it.",
+    "Hold the bottle with narrow top steady, then shake it.",
+    "Lift the bottle with narrow top and shake it gently.",
+    "Pick the medium green bottle with capped neck and perform shaking motion.",
+    "Pick the green bottle with indented base up with the right arm and shake.",
+    "Lift the medium green bottle with capped neck with the right arm and shake.",
+    "Using the right arm, shake the bottle with ridges near base and then place it back.",
+    "Take the medium green bottle using the right arm and give it a shake.",
+    "Shake the smooth green bottle after holding it firmly.",
+    "Use the right arm to grab the bottle with white printed label and shake it.",
+    "Pick the plastic bottle up using the right arm and shake it.",
+    "Lift up the green bottle with indented base using the right arm, then shake.",
+    "Shake the smooth green plastic bottle thoroughly after grabbing it.",
+    "Use the right arm to pick and shake the smooth green bottle.",
+    "Shake the bottle with rounded neck after grabbing it.",
+    "Shake the the bottle with narrow top properly after lifting.",
+    "Catch the green bottle with indented base and shake it instantly.",
+    "Lift the plastic bottle with the right arm and shake it.",
+    "With the right arm, pick the medium green bottle and shake properly.",
+    "Hold the bottle with ridges near base with the right arm and shake lightly.",
+    "Pick up the handheld green bottle and shake it well.",
+    "Use the right arm to lift and shake the medium green bottle.",
+    "Lift the handheld green bottle with the right arm and give it a shake.",
+    "Hold and shake the the green bottle with indented base carefully.",
+    "Grab the bottle with ridges near base and shake it steadily.",
+    "Grab the bottle with white printed label and move it to shake.",
+    "Grip the smooth green bottle using the right arm and shake.",
+    "Secure the green bottle with indented base, shake it, and place it down.",
+    "Hold the bottle with white printed label and shake it properly.",
+    "Grab the bottle with ridges near base firmly, shake it, and put it down.",
+    "Grab the bottle with narrow top carefully and shake.",
+    "Grab the handheld green bottle and give it a shake.",
+    "Grab the bottle with rounded neck using the right arm, then shake.",
+    "Use the right arm to lift and shake the bottle with white printed label.",
+    "Use the right arm to grab the bottle with rounded neck and shake properly.",
+    "Grasp the plastic bottle with the right arm and shake it.",
+    "Shake the smooth green plastic bottle using the right arm after grabbing.",
+    "Grab and shake the smooth green plastic bottle using the right arm.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Shake the medium green bottle with capped neck after lifting it.",
+    "Grab the handheld green bottle with the right arm and shake.",
+    "Utilize the right arm to hold the bottle with narrow top and shake it.",
+    "Shake the bottle with narrow top after grabbing it.",
+    "Hold the bottle with ridges near base, shake it briefly.",
+    "Lift the bottle with white printed label and shake it thoroughly.",
+    "Shake the bottle with narrow top firmly after grabbing.",
+    "Secure the medium green bottle and perform a shake.",
+    "Shake the handheld green bottle after grabbing it.",
+    "Pick the smooth green plastic bottle, shake it with the right arm.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the right arm to hold the bottle with ridges near base and shake it.",
+    "Hold the medium-sized green bottle steady, then shake it.",
+    "Lift the medium green bottle with capped neck and shake it gently.",
+    "Pick the smooth green plastic bottle and perform shaking motion.",
+    "Pick the medium-sized green bottle up with the right arm and shake.",
+    "Lift the bottle with narrow top with the right arm and shake.",
+    "Using the right arm, shake the smooth green bottle and then place it back.",
+    "Take the plastic bottle using the right arm and give it a shake.",
+    "Shake the green bottle with indented base after holding it firmly.",
+    "Use the right arm to grab the plastic bottle and shake it.",
+    "Pick the medium green bottle with capped neck up using the right arm and shake it.",
+    "Lift up the medium-sized green bottle using the right arm, then shake.",
+    "Shake the bottle with narrow top thoroughly after grabbing it.",
+    "Use the right arm to pick and shake the plastic bottle.",
+    "Shake the green bottle with indented base after grabbing it.",
+    "Shake the the smooth green bottle properly after lifting.",
+    "Catch the smooth green plastic bottle and shake it instantly.",
+    "Lift the handheld green bottle with the right arm and shake it.",
+    "With the right arm, pick the medium green bottle and shake properly.",
+    "Hold the medium-sized green bottle with the right arm and shake lightly.",
+    "Pick up the smooth green plastic bottle and shake it well.",
+    "Use the right arm to lift and shake the medium green bottle.",
+    "Lift the smooth green plastic bottle with the right arm and give it a shake.",
+    "Hold and shake the the handheld green bottle carefully."
+  ],
+  "unseen": [
+    "Pick and shake the the green bottle with white label with the right arm.",
+    "Pick up the green bottle and shake it.",
+    "Use the right arm to grab the green bottle with white label and shake.",
+    "Pick up the green bottle and shake it.",
+    "Grab the green bottle with white label and shake it.",
+    "Pick up the green bottle with the right arm and shake.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "Use the right arm to pick the green plastic bottle with ridged bottom.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Shake the green bottle with white label after picking it with the right arm.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the right arm.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "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.",
+    "Grab the green bottle and shake it.",
+    "Pick up the green plastic bottle with ridged bottom with the right arm and shake.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Use the right arm to pick the green bottle with white label.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Shake the green bottle after picking it with the right arm.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the right arm.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Use the right arm to grab the green bottle and shake.",
+    "Pick up the green bottle with white label and shake it.",
+    "Grab the green bottle and shake it.",
+    "Pick up the green bottle with the right arm and shake.",
+    "Grab the green bottle and give it a shake.",
+    "Use the right arm to pick the green bottle with white label.",
+    "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Shake the green bottle after picking it with the right arm.",
+    "Pick and shake the the green bottle with white label with the right arm.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "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.",
+    "Grab the green bottle and shake it.",
+    "Pick up the green bottle with the right arm and shake.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Use the right arm to pick the green bottle with white label.",
+    "Grab the green bottle with white label, shake it properly, then set it down.",
+    "Shake the green bottle after picking it with the right arm.",
+    "Pick and shake the the green bottle with white label with the right arm.",
+    "Pick up the green bottle and shake it.",
+    "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.",
+    "Grab the green bottle and shake it.",
+    "Pick up the green bottle with the right arm and shake.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "Use the right arm to pick the green bottle with white label.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Shake the green bottle after picking it with the right arm.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the right arm.",
+    "Pick up the green bottle and shake it.",
+    "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.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Pick up the green bottle with the right arm and shake.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Use the right arm to pick the green bottle.",
+    "Grab the green bottle with white label, shake it properly, then set it down.",
+    "Shake the green plastic bottle with ridged bottom after picking it with the right arm.",
+    "Pick and shake the the green bottle with the right arm.",
+    "Pick up the green bottle with white label and shake it.",
+    "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.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Pick up the green bottle with white label with the right arm and shake.",
+    "Grab the green bottle with white label and give it a shake.",
+    "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.",
+    "Shake the green bottle with white label after picking it with the right arm.",
+    "Pick and shake the the green bottle with the right arm.",
+    "Pick up the green bottle with white label and shake it.",
+    "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.",
+    "Grab the green bottle and shake it.",
+    "Pick up the green bottle with white label with the right arm and shake.",
+    "Grab the green bottle and give it a shake.",
+    "Use the right arm to pick the green bottle with white label.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Shake the green bottle after picking it with the right arm.",
+    "Pick and shake the the green bottle with white label with the right arm.",
+    "Pick up the green bottle with white label and shake it.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Pick up the green bottle and shake it.",
+    "Grab the green bottle with white label and shake it.",
+    "Pick up the green bottle with white label with the right arm and shake.",
+    "Grab the green bottle and give it a shake.",
+    "Use the right arm to pick the green bottle with white label.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Shake the green plastic bottle with ridged bottom after picking it with the right arm.",
+    "Pick and shake the the green bottle with white label with the right arm.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "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.",
+    "Grab the green bottle and shake it.",
+    "Pick up the green bottle with white label with the right arm and shake.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "Use the right arm to pick the green bottle.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Shake the green plastic bottle with ridged bottom after picking it with the right arm."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001044.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the handheld green bottle with the right arm and shake it.",
+    "Secure the bottle with narrow top, shake it, and place it down.",
+    "Grip the bottle with narrow top using the right arm and shake.",
+    "Shake the the green bottle with indented base properly after lifting.",
+    "Use the right arm to grab the medium green bottle and shake it.",
+    "Grab the medium green bottle firmly, shake it, and put it down.",
+    "Shake the bottle with rounded neck after grabbing it.",
+    "Grab the medium-sized green bottle and give it a shake.",
+    "Secure the bottle with rounded neck and perform a shake.",
+    "Grab the medium green bottle and move it to shake.",
+    "Use the right arm to grab the bottle with rounded neck and shake properly.",
+    "Pick the plastic bottle and perform shaking motion.",
+    "Lift the smooth green plastic bottle with the right arm and shake.",
+    "Shake the bottle with rounded neck after grabbing it.",
+    "Shake the green bottle with indented base firmly after grabbing.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Grab the smooth green plastic bottle carefully and shake.",
+    "Hold the bottle with ridges near base, shake it briefly.",
+    "Use the right arm to hold the bottle with narrow top and shake it.",
+    "Use the right arm to pick and shake the handheld green bottle.",
+    "Hold the smooth green plastic bottle with the right arm and shake lightly.",
+    "With the right arm, pick the bottle with narrow top and shake properly.",
+    "Grasp the medium-sized green bottle with the right arm and shake it.",
+    "Use the right arm to lift and shake the bottle with white printed label.",
+    "Pick the bottle with narrow top, shake it with the right arm.",
+    "Shake the bottle with ridges near base after holding it firmly.",
+    "Shake the medium-sized green bottle using the right arm after grabbing.",
+    "Hold the handheld green bottle steady, then shake it.",
+    "Shake the medium green bottle after lifting it.",
+    "Grab the medium green bottle with the right arm and shake.",
+    "Lift the bottle with rounded neck and shake it thoroughly.",
+    "Using the right arm, shake the medium green bottle and then place it back.",
+    "Pick the smooth green plastic bottle up using the right arm and shake it.",
+    "Lift the smooth green plastic bottle with the right arm and give it a shake.",
+    "Hold and shake the the bottle with rounded neck carefully.",
+    "Grab the smooth green bottle and shake it steadily.",
+    "Lift up the medium green bottle using the right arm, then shake.",
+    "Pick up the bottle with narrow top and shake it well.",
+    "Pick the handheld green bottle up with the right arm and shake.",
+    "Grab and shake the bottle with rounded neck using the right arm.",
+    "Use the right arm to lift and shake the bottle with narrow top.",
+    "Use the right arm to lift and shake the bottle with rounded neck.",
+    "Lift the green bottle with indented base and shake it gently.",
+    "Utilize the right arm to hold the bottle with white printed label and shake it.",
+    "Grab the bottle with ridges near base using the right arm, then shake.",
+    "Catch the medium-sized green bottle and shake it instantly.",
+    "Shake the bottle with narrow top after grabbing it.",
+    "Shake the green bottle with indented base thoroughly after grabbing it.",
+    "Hold the plastic bottle and shake it properly.",
+    "Take the medium green bottle with capped neck using the right arm and give it a shake.",
+    "Lift the bottle with ridges near base with the right arm and shake it.",
+    "Secure the medium green bottle, shake it, and place it down.",
+    "Grip the bottle with rounded neck using the right arm and shake.",
+    "Shake the the green bottle with indented base properly after lifting.",
+    "Use the right arm to grab the smooth green bottle and shake it.",
+    "Grab the medium-sized green bottle firmly, shake it, and put it down.",
+    "Shake the bottle with ridges near base after grabbing it.",
+    "Grab the green bottle with indented base and give it a shake.",
+    "Secure the plastic bottle and perform a shake.",
+    "Grab the smooth green bottle and move it to shake.",
+    "Use the right arm to grab the handheld green bottle and shake properly.",
+    "Pick the smooth green plastic bottle and perform shaking motion.",
+    "Lift the bottle with white printed label with the right arm and shake.",
+    "Shake the plastic bottle after grabbing it.",
+    "Shake the medium-sized green bottle firmly after grabbing.",
+    "Pick up the smooth green plastic bottle and shake it.",
+    "Grab the medium-sized green bottle carefully and shake.",
+    "Hold the medium-sized green bottle, shake it briefly.",
+    "Use the right arm to hold the smooth green plastic bottle and shake it.",
+    "Use the right arm to pick and shake the bottle with rounded neck.",
+    "Hold the plastic bottle with the right arm and shake lightly.",
+    "With the right arm, pick the bottle with ridges near base and shake properly.",
+    "Grasp the green bottle with indented base with the right arm and shake it.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Pick the plastic bottle, shake it with the right arm.",
+    "Shake the smooth green bottle after holding it firmly.",
+    "Shake the medium green bottle using the right arm after grabbing.",
+    "Hold the bottle with narrow top steady, then shake it.",
+    "Shake the bottle with rounded neck after lifting it.",
+    "Grab the handheld green bottle with the right arm and shake.",
+    "Lift the medium green bottle and shake it thoroughly.",
+    "Using the right arm, shake the medium-sized green bottle and then place it back.",
+    "Pick the medium green bottle up using the right arm and shake it.",
+    "Lift the bottle with narrow top with the right arm and give it a shake.",
+    "Hold and shake the the handheld green bottle carefully.",
+    "Grab the smooth green bottle and shake it steadily.",
+    "Lift up the plastic bottle using the right arm, then shake.",
+    "Pick up the handheld green bottle and shake it well.",
+    "Pick the medium green bottle up with the right arm and shake.",
+    "Grab and shake the bottle with white printed label using the right arm.",
+    "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 with capped neck.",
+    "Lift the bottle with rounded neck and shake it gently.",
+    "Utilize the right arm to hold the bottle with ridges near base and shake it.",
+    "Grab the bottle with narrow top using the right arm, then shake.",
+    "Catch the medium-sized green bottle and shake it instantly.",
+    "Shake the medium green bottle with capped neck after grabbing it.",
+    "Shake the handheld green bottle thoroughly after grabbing it.",
+    "Hold the plastic bottle and shake it properly.",
+    "Take the medium green bottle using the right arm and give it a shake."
+  ],
+  "unseen": [
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Pick up the green bottle with white label with the right arm and shake.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "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 bottle and shake it.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the right arm.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Use the right arm to grab the green bottle with white label and shake.",
+    "Use the right arm to pick the green bottle.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Pick up the green plastic bottle with ridged bottom with the right arm and shake.",
+    "Grab the green bottle and give it a shake.",
+    "Grab the green bottle 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 and shake the the green bottle with white label with the right arm.",
+    "Pick up the green bottle with white label and shake it.",
+    "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 plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick up the green bottle with white label with the right arm and shake.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "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 and shake the the green plastic bottle with ridged bottom with the right arm.",
+    "Pick up the green bottle and shake it.",
+    "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, shake it properly, then set it down.",
+    "Pick up the green bottle with the right arm and shake.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "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 with white label and shake it.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the right arm.",
+    "Pick up the green bottle and shake it.",
+    "Use the right arm to grab the green bottle with white label and shake.",
+    "Use the right arm to pick the green bottle with white label.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Pick up the green bottle with the right arm and shake.",
+    "Grab the green bottle and give it a shake.",
+    "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 with white label and shake it.",
+    "Pick and shake the the green bottle with the right arm.",
+    "Pick up the green bottle with white label and shake it.",
+    "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 plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick up the green plastic bottle with ridged bottom with the right arm and shake.",
+    "Grab the green bottle and give it a shake.",
+    "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 bottle with white label and shake it.",
+    "Pick and shake the the green bottle with the right arm.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Use the right arm to grab the green bottle with white label and shake.",
+    "Use the right arm to pick the green bottle with white label.",
+    "Grab the green bottle with white label, shake it properly, then set it down.",
+    "Pick up the green bottle with white label with the right arm and shake.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "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 plastic bottle with ridged bottom and shake it.",
+    "Pick and shake the the green bottle with white label with the right arm.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "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, shake it properly, then set it down.",
+    "Pick up the green plastic bottle with ridged bottom with the right arm and shake.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Grab the green bottle 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 and shake the the green bottle with the right arm.",
+    "Pick up the green bottle with white label and shake it.",
+    "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, shake it properly, then set it down.",
+    "Pick up the green bottle with white label with the right arm and shake.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Grab the green bottle 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 and shake the the green plastic bottle with ridged bottom with the right arm.",
+    "Pick up the green bottle and shake it.",
+    "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, shake it properly, then set it down.",
+    "Pick up the green plastic bottle with ridged bottom with the right arm and shake.",
+    "Grab the green bottle and give it a shake.",
+    "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 bottle and shake it.",
+    "Pick and shake the the green bottle with the right arm.",
+    "Pick up the green bottle and shake it.",
+    "Use the right arm to grab the green bottle with white label and shake.",
+    "Use the right arm to pick the green plastic bottle with ridged bottom."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001059.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the bottle with cute ghost drawing after grabbing it.",
+    "Grab and shake the hand-sized bottle with screw cap using the right arm.",
+    "Shake the the milk-bottle shape design properly after lifting.",
+    "Grab the smooth cylindrical bottle and shake it steadily.",
+    "Pick the medium-sized plastic bottle, shake it with the right arm.",
+    "Lift the hand-sized bottle with screw cap with the right arm and shake it.",
+    "Use the right arm to pick and shake the medium cylinder-shaped bottle.",
+    "Shake the rounded body bottle made of plastic after grabbing it.",
+    "Grab the plastic bottle with ghost print and move it to shake.",
+    "Shake the bottle with cute ghost drawing after holding it firmly.",
+    "Grab the smooth surface bottle with gray shade and give it a shake.",
+    "Grab the gray bottle with slight shine with the right arm and shake.",
+    "Lift the hand-sized bottle with screw cap with the right arm and give it a shake.",
+    "Lift up the medium cylinder-shaped bottle using the right arm, then shake.",
+    "Use the right arm to hold the bottle with cute ghost drawing and shake it.",
+    "Pick the medium cylinder-shaped bottle and perform shaking motion.",
+    "Hold the milk-bottle shape design and shake it properly.",
+    "Grab the gray bottle with slight shine firmly, shake it, and put it down.",
+    "With the right arm, pick the hand-sized bottle with screw cap and shake properly.",
+    "Take the medium-sized plastic bottle using the right arm and give it a shake.",
+    "Grasp the milk-bottle shape design with the right arm and shake it.",
+    "Lift the bottle with cute ghost drawing and shake it gently.",
+    "Pick the milk-bottle shape design up using the right arm and shake it.",
+    "Pick up the rounded body bottle made of plastic and shake it well.",
+    "Grab the medium cylinder-shaped bottle carefully and shake.",
+    "Shake the medium-sized plastic bottle after lifting it.",
+    "Use the right arm to grab the hand-sized bottle with screw cap and shake it.",
+    "Secure the medium cylinder-shaped bottle and perform a shake.",
+    "Hold the hand-sized bottle with screw cap with the right arm and shake lightly.",
+    "Shake the milk-bottle shape design using the right arm after grabbing.",
+    "Hold the smooth surface bottle with gray shade, shake it briefly.",
+    "Shake the rounded body bottle made of plastic after grabbing it.",
+    "Hold and shake the the smooth cylindrical bottle carefully.",
+    "Utilize the right arm to hold the plastic bottle with ghost print and shake it.",
+    "Grab the bottle with cute ghost drawing using the right arm, then shake.",
+    "Use the right arm to lift and shake the milk-bottle shape design.",
+    "Catch the bottle shaped like small cylinder and shake it instantly.",
+    "Using the right arm, shake the smooth cylindrical bottle and then place it back.",
+    "Lift the bottle with cute ghost drawing with the right arm and shake.",
+    "Shake the hand-sized bottle with screw cap thoroughly after grabbing it.",
+    "Pick up the medium-sized plastic bottle and shake it.",
+    "Grip the plastic bottle with ghost print using the right arm and shake.",
+    "Shake the rounded body bottle made of plastic firmly after grabbing.",
+    "Lift the hand-sized bottle with screw cap and shake it thoroughly.",
+    "Use the right arm to grab the smooth surface bottle with gray shade and shake properly.",
+    "Use the right arm to lift and shake the smooth cylindrical bottle.",
+    "Hold the bottle with cute ghost drawing steady, then shake it.",
+    "Use the right arm to lift and shake the bottle with cute ghost drawing.",
+    "Secure the light gray colored container bottle, shake it, and place it down.",
+    "Pick the smooth cylindrical bottle up with the right arm and shake.",
+    "Shake the rounded body bottle made of plastic after grabbing it.",
+    "Grab and shake the medium cylinder-shaped bottle using the right arm.",
+    "Shake the the smooth surface bottle with gray shade properly after lifting.",
+    "Grab the milk-bottle shape design and shake it steadily.",
+    "Pick the bottle shaped like small cylinder, shake it with the right arm.",
+    "Lift the medium cylinder-shaped bottle with the right arm and shake it.",
+    "Use the right arm to pick and shake the rounded body bottle made of plastic.",
+    "Shake the smooth surface bottle with gray shade after grabbing it.",
+    "Grab the gray bottle with slight shine and move it to shake.",
+    "Shake the gray bottle with slight shine after holding it firmly.",
+    "Grab the gray bottle with slight shine and give it a shake.",
+    "Grab the medium cylinder-shaped bottle with the right arm and shake.",
+    "Lift the bottle with cute ghost drawing with the right arm and give it a shake.",
+    "Lift up the rounded body bottle made of plastic using the right arm, then shake.",
+    "Use the right arm to hold the rounded body bottle made of plastic and shake it.",
+    "Pick the smooth cylindrical bottle and perform shaking motion.",
+    "Hold the milk-bottle shape design and shake it properly.",
+    "Grab the milk-bottle shape design firmly, shake it, and put it down.",
+    "With the right arm, pick the medium cylinder-shaped bottle and shake properly.",
+    "Take the smooth surface bottle with gray shade using the right arm and give it a shake.",
+    "Grasp the hand-sized bottle with screw cap with the right arm and shake it.",
+    "Lift the rounded body bottle made of plastic and shake it gently.",
+    "Pick the plastic bottle with ghost print up using the right arm and shake it.",
+    "Pick up the plastic bottle with ghost print and shake it well.",
+    "Grab the smooth surface bottle with gray shade carefully and shake.",
+    "Shake the bottle with cute ghost drawing after lifting it.",
+    "Use the right arm to grab the gray bottle with slight shine and shake it.",
+    "Secure the bottle shaped like small cylinder and perform a shake.",
+    "Hold the medium cylinder-shaped bottle with the right arm and shake lightly.",
+    "Shake the gray bottle with slight shine using the right arm after grabbing.",
+    "Hold the milk-bottle shape design, shake it briefly.",
+    "Shake the plastic bottle with ghost print after grabbing it.",
+    "Hold and shake the the plastic bottle with ghost print carefully.",
+    "Utilize the right arm to hold the bottle with cute ghost drawing and shake it.",
+    "Grab the milk-bottle shape design using the right arm, then shake.",
+    "Use the right arm to lift and shake the gray bottle with slight shine.",
+    "Catch the plastic bottle with ghost print and shake it instantly.",
+    "Using the right arm, shake the gray bottle with slight shine and then place it back.",
+    "Lift the bottle shaped like small cylinder with the right arm and shake.",
+    "Shake the bottle shaped like small cylinder thoroughly after grabbing it.",
+    "Pick up the bottle with cute ghost drawing and shake it.",
+    "Grip the medium cylinder-shaped bottle using the right arm and shake.",
+    "Shake the smooth cylindrical bottle firmly after grabbing.",
+    "Lift the plastic bottle with ghost print and shake it thoroughly.",
+    "Use the right arm to grab the medium cylinder-shaped bottle and shake properly.",
+    "Use the right arm to lift and shake the bottle shaped like small cylinder.",
+    "Hold the light gray colored container bottle steady, then shake it.",
+    "Use the right arm to lift and shake the rounded body bottle made of plastic.",
+    "Secure the milk-bottle shape design, shake it, and place it down.",
+    "Pick the smooth cylindrical bottle up with the right arm and shake."
+  ],
+  "unseen": [
+    "Grab the light gray bottle and shake it.",
+    "Use the right arm to grab the bottle with rounded cap top and shake.",
+    "Shake the light gray bottle after picking it with the right arm.",
+    "Pick up the gray bottle for holding drinks with the right arm and shake.",
+    "Use the right arm to pick the gray bottle for holding drinks.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Pick and shake the the light gray bottle with the right arm.",
+    "Grab the light gray bottle and give it a shake.",
+    "Pick up the light gray bottle and shake it.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Use the right arm to grab the light gray bottle and shake.",
+    "Shake the gray bottle for holding drinks after picking it with the right arm.",
+    "Pick up the light gray bottle with the right arm and shake.",
+    "Use the right arm to pick the bottle with rounded cap top.",
+    "Pick up the light gray bottle and shake it.",
+    "Pick and shake the the gray bottle for holding drinks with the right arm.",
+    "Grab the light gray bottle and give it a shake.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Shake the gray bottle for holding drinks after picking it with the right arm.",
+    "Pick up the gray bottle for holding drinks with the right arm and shake.",
+    "Use the right arm to pick the light gray bottle.",
+    "Pick up the light gray bottle and shake it.",
+    "Pick and shake the the gray bottle for holding drinks with the right arm.",
+    "Grab the gray bottle for holding drinks and give it a shake.",
+    "Pick up the light gray bottle and shake it.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Grab the light gray bottle and shake it.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Shake the bottle with rounded cap top after picking it with the right arm.",
+    "Pick up the light gray bottle with the right arm and shake.",
+    "Use the right arm to pick the bottle with rounded cap top.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Pick and shake the the light gray bottle with the right arm.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Grab the light gray bottle and shake it.",
+    "Use the right arm to grab the bottle with rounded cap top and shake.",
+    "Shake the gray bottle for holding drinks after picking it with the right arm.",
+    "Pick up the light gray bottle with the right arm and shake.",
+    "Use the right arm to pick the bottle with rounded cap top.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Pick and shake the the gray bottle for holding drinks with the right arm.",
+    "Grab the light gray bottle and give it a shake.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Use the right arm to grab the light gray bottle and shake.",
+    "Shake the bottle with rounded cap top after picking it with the right arm.",
+    "Pick up the gray bottle for holding drinks with the right arm and shake.",
+    "Use the right arm to pick the gray bottle for holding drinks.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Pick and shake the the light gray bottle with the right arm.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Pick up the light gray bottle and shake it.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Shake the gray bottle for holding drinks after picking it with the right arm.",
+    "Pick up the light gray bottle with the right arm and shake.",
+    "Use the right arm to pick the gray bottle for holding drinks.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Pick and shake the the bottle with rounded cap top with the right arm.",
+    "Grab the gray bottle for holding drinks and give it a shake.",
+    "Pick up the light gray bottle and shake it.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Use the right arm to grab the light gray bottle and shake.",
+    "Shake the bottle with rounded cap top after picking it with the right arm.",
+    "Pick up the light gray bottle with the right arm and shake.",
+    "Use the right arm to pick the gray bottle for holding drinks.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Pick and shake the the gray bottle for holding drinks with the right arm.",
+    "Grab the light gray bottle and give it a shake.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Use the right arm to grab the light gray bottle and shake.",
+    "Shake the gray bottle for holding drinks after picking it with the right arm.",
+    "Pick up the bottle with rounded cap top with the right arm and shake.",
+    "Use the right arm to pick the bottle with rounded cap top.",
+    "Pick up the light gray bottle and shake it.",
+    "Pick and shake the the gray bottle for holding drinks with the right arm.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Grab the light gray bottle and shake it.",
+    "Use the right arm to grab the light gray bottle and shake.",
+    "Shake the light gray bottle after picking it with the right arm.",
+    "Pick up the gray bottle for holding drinks with the right arm and shake.",
+    "Use the right arm to pick the bottle with rounded cap top.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Pick and shake the the light gray bottle with the right arm.",
+    "Grab the gray bottle for holding drinks and give it a shake.",
+    "Pick up the light gray bottle and shake it.",
+    "Grab the light gray bottle, shake it properly, then set it down."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001068.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the smooth bottle with red lid with the left arm and give it a shake.",
+    "Pick the smooth bottle with red lid and perform shaking motion.",
+    "Use the left arm to grab the brown bottle with red label and shake properly.",
+    "Utilize the left arm to hold the long thin bottle and shake it.",
+    "Hold the narrow-necked bottle, shake it briefly.",
+    "Grip the plastic drink bottle using the left arm and shake.",
+    "Hold the smooth bottle with red lid steady, then shake it.",
+    "Grasp the red-capped bottle with the left arm and shake it.",
+    "Grab and shake the brown bottle with red label using the left arm.",
+    "Shake the hand-sized soda bottle thoroughly after grabbing it.",
+    "Grab the dark drink bottle with logo with the left arm and shake.",
+    "Pick up the Coca-Cola bottle and shake it.",
+    "Using the left arm, shake the bottle with ridges on bottom and then place it back.",
+    "Lift up the bottle with white neck and red top using the left arm, then shake.",
+    "Use the left arm to pick and shake the long thin bottle.",
+    "Grab the long thin bottle firmly, shake it, and put it down.",
+    "Lift the narrow-necked bottle with the left arm and shake.",
+    "Use the left arm to lift and shake the Coca-Cola bottle.",
+    "Use the left arm to lift and shake the long thin bottle.",
+    "Secure the hand-sized soda bottle and perform a shake.",
+    "Pick the hand-sized soda bottle, shake it with the left arm.",
+    "Use the left arm to lift and shake the bottle with ridges on bottom.",
+    "Grab the bottle with white neck and red top carefully and shake.",
+    "Grab the long thin bottle and shake it steadily.",
+    "Hold the Coca-Cola bottle with the left arm and shake lightly.",
+    "Grab the bottle with ridges on bottom and move it to shake.",
+    "Use the left arm to grab the smooth bottle with red lid and shake it.",
+    "Shake the Coca-Cola bottle after holding it firmly.",
+    "Shake the dark drink bottle with logo firmly after grabbing.",
+    "Shake the smooth bottle with red lid after grabbing it.",
+    "Catch the bottle with ridges on bottom and shake it instantly.",
+    "Grab the bottle with ridges on bottom and give it a shake.",
+    "Shake the bottle with white neck and red top after grabbing it.",
+    "Shake the plastic drink bottle using the left arm after grabbing.",
+    "Pick the narrow-necked bottle up using the left arm and shake it.",
+    "Grab the red-capped bottle using the left arm, then shake.",
+    "Lift the brown bottle with red label and shake it thoroughly.",
+    "Pick the medium dark brown bottle up with the left arm and shake.",
+    "Hold the plastic drink bottle and shake it properly.",
+    "With the left arm, pick the narrow-necked bottle and shake properly.",
+    "Pick up the narrow-necked bottle and shake it well.",
+    "Use the left arm to hold the bottle with white neck and red top and shake it.",
+    "Secure the Coca-Cola bottle, shake it, and place it down.",
+    "Shake the red-capped bottle after lifting it.",
+    "Shake the the brown bottle with red label properly after lifting.",
+    "Lift the Coca-Cola bottle with the left arm and shake it.",
+    "Hold and shake the the bottle with white neck and red top carefully.",
+    "Shake the hand-sized soda bottle after grabbing it.",
+    "Take the hand-sized soda bottle using the left arm and give it a shake.",
+    "Lift the hand-sized soda bottle and shake it gently.",
+    "Lift the bottle with ridges on bottom with the left arm and give it a shake.",
+    "Pick the dark drink bottle with logo and perform shaking motion.",
+    "Use the left arm to grab the brown bottle with red label and shake properly.",
+    "Utilize the left arm to hold the long thin bottle and shake it.",
+    "Hold the long thin bottle, shake it briefly.",
+    "Grip the medium dark brown bottle using the left arm and shake.",
+    "Hold the bottle with ridges on bottom steady, then shake it.",
+    "Grasp the bottle with white neck and red top with the left arm and shake it.",
+    "Grab and shake the plastic drink bottle using the left arm.",
+    "Shake the bottle with ridges on bottom thoroughly after grabbing it.",
+    "Grab the hand-sized soda bottle with the left arm and shake.",
+    "Pick up the smooth bottle with red lid and shake it.",
+    "Using the left arm, shake the brown bottle with red label and then place it back.",
+    "Lift up the dark drink bottle with logo using the left arm, then shake.",
+    "Use the left arm to pick and shake the bottle with ridges on bottom.",
+    "Grab the red-capped bottle firmly, shake it, and put it down.",
+    "Lift the bottle with ridges on bottom with the left arm and shake.",
+    "Use the left arm to lift and shake the hand-sized soda bottle.",
+    "Use the left arm to lift and shake the dark drink bottle with logo.",
+    "Secure the plastic drink bottle and perform a shake.",
+    "Pick the medium dark brown bottle, shake it with the left arm.",
+    "Use the left arm to lift and shake the long thin bottle.",
+    "Grab the hand-sized soda bottle carefully and shake.",
+    "Grab the bottle with ridges on bottom and shake it steadily.",
+    "Hold the narrow-necked bottle with the left arm and shake lightly.",
+    "Grab the bottle with ridges on bottom and move it to shake.",
+    "Use the left arm to grab the long thin bottle and shake it.",
+    "Shake the long thin bottle after holding it firmly.",
+    "Shake the narrow-necked bottle firmly after grabbing.",
+    "Shake the brown bottle with red label after grabbing it.",
+    "Catch the smooth bottle with red lid and shake it instantly.",
+    "Grab the brown bottle with red label and give it a shake.",
+    "Shake the hand-sized soda bottle after grabbing it.",
+    "Shake the bottle with ridges on bottom using the left arm after grabbing.",
+    "Pick the bottle with white neck and red top up using the left arm and shake it.",
+    "Grab the brown bottle with red label using the left arm, then shake.",
+    "Lift the Coca-Cola bottle and shake it thoroughly.",
+    "Pick the medium dark brown bottle up with the left arm and shake.",
+    "Hold the long thin bottle and shake it properly.",
+    "With the left arm, pick the hand-sized soda bottle and shake properly.",
+    "Pick up the narrow-necked bottle and shake it well.",
+    "Use the left arm to hold the red-capped bottle and shake it.",
+    "Secure the Coca-Cola bottle, shake it, and place it down.",
+    "Shake the medium dark brown bottle after lifting it.",
+    "Shake the the narrow-necked bottle properly after lifting.",
+    "Lift the medium dark brown bottle with the left arm and shake it.",
+    "Hold and shake the the long thin bottle carefully.",
+    "Shake the medium dark brown bottle after grabbing it.",
+    "Take the medium dark brown bottle using the left arm and give it a shake.",
+    "Lift the plastic drink bottle and shake it gently."
+  ],
+  "unseen": [
+    "Pick up the brown bottle and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Shake the plastic soda bottle after picking it with the left arm.",
+    "Grab the bottle with red screw cap and give it a shake.",
+    "Use the left arm to pick the bottle with red screw cap.",
+    "Pick up the plastic soda bottle with the left arm and shake.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Use the left arm to grab the plastic soda bottle and shake.",
+    "Grab the plastic soda bottle and shake it.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Shake the bottle with red screw cap after picking it with the left arm.",
+    "Grab the bottle with red screw cap and give it a shake.",
+    "Use the left arm to pick the bottle with red screw cap.",
+    "Pick up the plastic soda bottle with the left arm and shake.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with red screw cap and shake.",
+    "Grab the brown bottle and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Shake the plastic soda bottle after picking it with the left arm.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Use the left arm to pick the bottle with red screw cap.",
+    "Pick up the plastic soda bottle with the left arm and shake.",
+    "Pick and shake the the plastic soda bottle with the left arm.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Grab the brown bottle and shake it.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Shake the bottle with red screw cap after picking it with the left arm.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Use the left arm to pick the brown bottle.",
+    "Pick up the plastic soda bottle with the left arm and shake.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the plastic soda bottle and shake.",
+    "Grab the plastic soda bottle and shake it.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Shake the brown bottle after picking it with the left arm.",
+    "Grab the brown bottle and give it a shake.",
+    "Use the left arm to pick the bottle with red screw cap.",
+    "Pick up the bottle with red screw cap with the left arm and shake.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Shake the bottle with red screw cap after picking it with the left arm.",
+    "Grab the brown bottle and give it a shake.",
+    "Use the left arm to pick the brown bottle.",
+    "Pick up the brown bottle with the left arm and shake.",
+    "Pick and shake the the plastic soda bottle with the left arm.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Grab the plastic soda bottle and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Shake the plastic soda bottle after picking it with the left arm.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Use the left arm to pick the plastic soda bottle.",
+    "Pick up the plastic soda bottle with the left arm and shake.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with red screw cap and shake.",
+    "Grab the brown bottle and shake it.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Shake the plastic soda bottle after picking it with the left arm.",
+    "Grab the brown bottle and give it a shake.",
+    "Use the left arm to pick the plastic soda bottle.",
+    "Pick up the plastic soda bottle with the left arm and shake.",
+    "Pick and shake the the plastic soda bottle with the left arm.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the plastic soda bottle and shake.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Shake the plastic soda bottle after picking it with the left arm.",
+    "Grab the bottle with red screw cap and give it a shake.",
+    "Use the left arm to pick the bottle with red screw cap.",
+    "Pick up the brown bottle with the left arm and shake.",
+    "Pick and shake the the plastic soda bottle with the left arm.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with red screw cap and shake.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Shake the bottle with red screw cap after picking it with the left arm.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Use the left arm to pick the bottle with red screw cap.",
+    "Pick up the plastic soda bottle with the left arm and shake.",
+    "Pick and shake the the plastic soda bottle with the left arm.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with red screw cap and shake.",
+    "Grab the brown bottle and shake it."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001080.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift up the brown bottle with rounded rectangular shape using the left arm, then shake.",
+    "Shake the medium bottle with glossy surface after grabbing it.",
+    "Hold the brown bottle with the left arm and shake lightly.",
+    "Secure the medium-sized brown plastic bottle, shake it, and place it down.",
+    "Use the left arm to pick and shake the smooth brown bottle with green label.",
+    "Use the left arm to grab the brown bottle with rounded rectangular shape and shake it.",
+    "Pick up the bottle with green cap and shake it.",
+    "Shake the brown bottle firmly after grabbing.",
+    "Grab the plastic bottle and move it to shake.",
+    "Hold the smooth brown bottle with green label, shake it briefly.",
+    "With the left arm, pick the brown bottle with rounded rectangular shape and shake properly.",
+    "Lift the bottle with flat sides and logo with the left arm and shake it.",
+    "Lift the plastic bottle with the left arm and give it a shake.",
+    "Utilize the left arm to hold the medium-sized brown plastic bottle and shake it.",
+    "Grab the smooth brown bottle with green label and give it a shake.",
+    "Pick the medium bottle with glossy surface up with the left arm and shake.",
+    "Shake the bottle with green cap after grabbing it.",
+    "Take the medium-sized brown plastic bottle using the left arm and give it a shake.",
+    "Grasp the smooth brown bottle with green label with the left arm and shake it.",
+    "Pick the dark brown bottle with a squared body and perform shaking motion.",
+    "Grab the plastic bottle and shake it steadily.",
+    "Shake the smooth brown bottle with green label using the left arm after grabbing.",
+    "Use the left arm to lift and shake the bottle with flat sides and logo.",
+    "Grab the brown bottle with the left arm and shake.",
+    "Shake the rectangular-shaped bottle with round cap after holding it firmly.",
+    "Use the left arm to lift and shake the medium-sized brown plastic bottle.",
+    "Secure the rectangular brown body with white top and perform a shake.",
+    "Use the left arm to grab the bottle with flat sides and logo and shake properly.",
+    "Hold and shake the the brown bottle carefully.",
+    "Shake the the bottle with green cap properly after lifting.",
+    "Grab the smooth brown bottle with green label using the left arm, then shake.",
+    "Grab and shake the plastic bottle using the left arm.",
+    "Catch the brown bottle and shake it instantly.",
+    "Grab the bottle with flat sides and logo firmly, shake it, and put it down.",
+    "Pick the smooth brown bottle with green label up using the left arm and shake it.",
+    "Grip the rectangular brown body with white top using the left arm and shake.",
+    "Use the left arm to lift and shake the brown bottle.",
+    "Shake the brown bottle with rounded rectangular shape thoroughly after grabbing it.",
+    "Use the left arm to hold the rectangular-shaped bottle with round cap and shake it.",
+    "Shake the brown bottle after grabbing it.",
+    "Hold the brown bottle and shake it properly.",
+    "Pick the bottle with flat sides and logo, shake it with the left arm.",
+    "Grab the plastic bottle carefully and shake.",
+    "Lift the plastic bottle and shake it thoroughly.",
+    "Using the left arm, shake the bottle with flat sides and logo and then place it back.",
+    "Lift the smooth brown bottle with green label and shake it gently.",
+    "Shake the rectangular brown body with white top after lifting it.",
+    "Hold the medium bottle with glossy surface steady, then shake it.",
+    "Pick up the dark brown bottle with a squared body and shake it well.",
+    "Lift the plastic bottle with the left arm and shake.",
+    "Lift up the smooth plastic bottle with white cap using the left arm, then shake.",
+    "Shake the medium-sized brown plastic bottle after grabbing it.",
+    "Hold the bottle with flat sides and logo with the left arm and shake lightly.",
+    "Secure the rectangular brown body with white top, shake it, and place it down.",
+    "Use the left arm to pick and shake the brown bottle.",
+    "Use the left arm to grab the brown bottle with rounded rectangular shape and shake it.",
+    "Pick up the smooth brown bottle with green label and shake it.",
+    "Shake the plastic bottle firmly after grabbing.",
+    "Grab the brown bottle with rounded rectangular shape and move it to shake.",
+    "Hold the rectangular brown body with white top, shake it briefly.",
+    "With the left arm, pick the rectangular brown body with white top and shake properly.",
+    "Lift the smooth brown bottle with green label with the left arm and shake it.",
+    "Lift the bottle with green cap with the left arm and give it a shake.",
+    "Utilize the left arm to hold the medium-sized brown plastic bottle and shake it.",
+    "Grab the brown bottle with rounded rectangular shape and give it a shake.",
+    "Pick the bottle with flat sides and logo up with the left arm and shake.",
+    "Shake the medium-sized brown plastic bottle after grabbing it.",
+    "Take the brown bottle with rounded rectangular shape using the left arm and give it a shake.",
+    "Grasp the dark brown bottle with a squared body with the left arm and shake it.",
+    "Pick the rectangular brown body with white top and perform shaking motion.",
+    "Grab the medium bottle with glossy surface and shake it steadily.",
+    "Shake the rectangular-shaped bottle with round cap using the left arm after grabbing.",
+    "Use the left arm to lift and shake the brown bottle.",
+    "Grab the rectangular brown body with white top with the left arm and shake.",
+    "Shake the rectangular brown body with white top after holding it firmly.",
+    "Use the left arm to lift and shake the rectangular-shaped bottle with round cap.",
+    "Secure the rectangular-shaped bottle with round cap and perform a shake.",
+    "Use the left arm to grab the brown bottle with rounded rectangular shape and shake properly.",
+    "Hold and shake the the medium bottle with glossy surface carefully.",
+    "Shake the the medium-sized brown plastic bottle properly after lifting.",
+    "Grab the bottle with flat sides and logo using the left arm, then shake.",
+    "Grab and shake the medium-sized brown plastic bottle using the left arm.",
+    "Catch the bottle with green cap and shake it instantly.",
+    "Grab the brown bottle firmly, shake it, and put it down.",
+    "Pick the bottle with flat sides and logo up using the left arm and shake it.",
+    "Grip the bottle with flat sides and logo using the left arm and shake.",
+    "Use the left arm to lift and shake the brown bottle.",
+    "Shake the bottle with green cap thoroughly after grabbing it.",
+    "Use the left arm to hold the brown bottle and shake it.",
+    "Shake the rectangular-shaped bottle with round cap after grabbing it.",
+    "Hold the dark brown bottle with a squared body and shake it properly.",
+    "Pick the brown bottle with rounded rectangular shape, shake it with the left arm.",
+    "Grab the bottle with green cap carefully and shake.",
+    "Lift the bottle with green cap and shake it thoroughly.",
+    "Using the left arm, shake the bottle with flat sides and logo and then place it back.",
+    "Lift the medium-sized brown plastic bottle and shake it gently.",
+    "Shake the brown bottle after lifting it.",
+    "Hold the dark brown bottle with a squared body steady, then shake it.",
+    "Pick up the smooth plastic bottle with white cap and shake it well.",
+    "Lift the smooth plastic bottle with white cap with the left arm and shake."
+  ],
+  "unseen": [
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.",
+    "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 up the liquid container dark brown plastic with the left arm and shake.",
+    "Use the left arm to grab the bottle with green label and white lid and shake.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Shake the liquid container dark brown plastic after picking it with the left arm.",
+    "Grab 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.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Pick and shake the the liquid container dark brown plastic with the left arm.",
+    "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 up the bottle with green label and white lid with the left arm and shake.",
+    "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Shake the liquid container dark brown plastic after picking it with the left arm.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.",
+    "Pick and shake the the bottle with green label and white lid with the left arm.",
+    "Use the left arm to pick the medium-sized plastic bottle with capped top.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Pick up the liquid container dark brown plastic with the left arm and shake.",
+    "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Grab the medium-sized plastic bottle with capped top and give it a shake.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.",
+    "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 up the bottle with green label and white lid with the left arm and shake.",
+    "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Shake the liquid container dark brown plastic after picking it with the left arm.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Grab the bottle with green label and white lid and give it a shake.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Pick and shake the the bottle with green label and white lid with the left arm.",
+    "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 up the medium-sized plastic bottle with capped top with the left arm and shake.",
+    "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Shake the liquid container dark brown plastic after picking it with the left arm.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Grab the bottle with green label and white lid and give it a shake.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Pick and shake the the liquid container dark brown plastic with the left arm.",
+    "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 up the liquid container dark brown plastic with the left arm and shake.",
+    "Use the left arm to grab the liquid container dark brown plastic and shake.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Shake the bottle with green label and white lid after picking it with the left arm.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Grab the medium-sized plastic bottle with capped top and give it a shake.",
+    "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.",
+    "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 up the liquid container dark brown plastic with the left arm and shake.",
+    "Use the left arm to grab the liquid container dark brown plastic and shake.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Shake the bottle with green label and white lid after picking it with the left arm.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Pick and shake the the bottle with green label and white lid with the left arm.",
+    "Use the left arm to pick the liquid container dark brown plastic.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.",
+    "Use the left arm to grab the liquid container dark brown plastic and shake.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Shake the bottle with green label and white lid after picking it with the left arm.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Grab the medium-sized plastic bottle with capped top and give it a shake.",
+    "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.",
+    "Pick and shake the the liquid container dark brown plastic with the left arm.",
+    "Use the left arm to pick the liquid container dark brown plastic.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.",
+    "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Pick and shake the the bottle with green label and white lid with the left arm.",
+    "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 up the liquid container dark brown plastic with the left arm and shake.",
+    "Use the left arm to grab the bottle with green label and white lid and shake.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Shake the bottle with green label and white lid after picking it with the left arm.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Grab the bottle with green label and white lid and give it a shake."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001088.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab and shake the plastic bottle with ribbed pattern using the right arm.",
+    "Grab the small brown plastic bottle with the right arm and shake.",
+    "Hold the bottle with tapered cylindrical shape and shake it properly.",
+    "Grab the bottle with tapered cylindrical shape and give it a shake.",
+    "Grab the bottle with green cap using the right arm, then shake.",
+    "Catch the plastic bottle with ribbed pattern and shake it instantly.",
+    "Using the right arm, shake the cylindrical bottle with white label and then place it back.",
+    "Hold the green-capped bottle, shake it briefly.",
+    "Shake the small brown plastic bottle after grabbing it.",
+    "Secure the smooth plastic bottle for beverages and perform a shake.",
+    "Utilize the right arm to hold the brown bottle with green screw-on cap and shake it.",
+    "Lift the small brown plastic bottle and shake it thoroughly.",
+    "Secure the smooth plastic bottle for beverages, shake it, and place it down.",
+    "Pick the brown bottle with green screw-on cap and perform shaking motion.",
+    "Use the right arm to lift and shake the plastic bottle with ribbed pattern.",
+    "Lift the brown bottle and shake it gently.",
+    "Hold the cylindrical bottle with white label steady, then shake it.",
+    "Lift up the cylindrical bottle with white label using the right arm, then shake.",
+    "Grab the bottle with tapered cylindrical shape firmly, shake it, and put it down.",
+    "Use the right arm to hold the hand-sized bottle with grooves and shake it.",
+    "With the right arm, pick the brown bottle with green screw-on cap and shake properly.",
+    "Use the right arm to lift and shake the bottle with tapered cylindrical shape.",
+    "Shake the bottle with green cap after grabbing it.",
+    "Grab the bottle with green cap carefully and shake.",
+    "Grab the brown bottle and move it to shake.",
+    "Pick the small brown plastic bottle, shake it with the right arm.",
+    "Pick the brown bottle with green screw-on cap up with the right arm and shake.",
+    "Take the bottle with green cap using the right arm and give it a shake.",
+    "Lift the plastic bottle with ribbed pattern with the right arm and shake.",
+    "Grip the bottle with green cap using the right arm and shake.",
+    "Lift the brown bottle with the right arm and give it a shake.",
+    "Lift the brown bottle with the right arm and shake it.",
+    "Pick the green-capped bottle up using the right arm and shake it.",
+    "Grab the small brown plastic bottle and shake it steadily.",
+    "Shake the brown bottle with white printed label thoroughly after grabbing it.",
+    "Hold and shake the the brown bottle carefully.",
+    "Use the right arm to grab the cylindrical bottle with white label and shake it.",
+    "Shake the plastic bottle with ribbed pattern after lifting it.",
+    "Use the right arm to grab the small brown plastic bottle and shake properly.",
+    "Shake the hand-sized bottle with grooves after grabbing it.",
+    "Use the right arm to pick and shake the cylindrical bottle with white label.",
+    "Shake the brown bottle with white printed label using the right arm after grabbing.",
+    "Use the right arm to lift and shake the brown bottle.",
+    "Shake the the bottle with green cap properly after lifting.",
+    "Pick up the cylindrical bottle with white label and shake it.",
+    "Hold the plastic bottle with ribbed pattern with the right arm and shake lightly.",
+    "Shake the small brown plastic bottle after holding it firmly.",
+    "Pick up the green-capped bottle and shake it well.",
+    "Shake the bottle with tapered cylindrical shape firmly after grabbing.",
+    "Grasp the bottle with tapered cylindrical shape with the right arm and shake it.",
+    "Grab and shake the small drink bottle with logo using the right arm.",
+    "Grab the hand-sized bottle with grooves with the right arm and shake.",
+    "Hold the brown bottle with white printed label and shake it properly.",
+    "Grab the brown bottle and give it a shake.",
+    "Grab the cylindrical bottle with white label using the right arm, then shake.",
+    "Catch the brown bottle with white printed label and shake it instantly.",
+    "Using the right arm, shake the small brown plastic bottle and then place it back.",
+    "Hold the smooth plastic bottle for beverages, shake it briefly.",
+    "Shake the small drink bottle with logo after grabbing it.",
+    "Secure the small brown plastic bottle and perform a shake.",
+    "Utilize the right arm to hold the brown bottle with white printed label and shake it.",
+    "Lift the hand-sized bottle with grooves and shake it thoroughly.",
+    "Secure the hand-sized bottle with grooves, shake it, and place it down.",
+    "Pick the small brown plastic bottle and perform shaking motion.",
+    "Use the right arm to lift and shake the brown bottle with white printed label.",
+    "Lift the small brown plastic bottle and shake it gently.",
+    "Hold the cylindrical bottle with white label steady, then shake it.",
+    "Lift up the brown bottle with green screw-on cap using the right arm, then shake.",
+    "Grab the plastic bottle with ribbed pattern firmly, shake it, and put it down.",
+    "Use the right arm to hold the brown bottle and shake it.",
+    "With the right arm, pick the small drink bottle with logo and shake properly.",
+    "Use the right arm to lift and shake the smooth plastic bottle for beverages.",
+    "Shake the hand-sized bottle with grooves after grabbing it.",
+    "Grab the green-capped bottle carefully and shake.",
+    "Grab the small brown plastic bottle and move it to shake.",
+    "Pick the brown bottle, shake it with the right arm.",
+    "Pick the brown bottle with white printed label up with the right arm and shake.",
+    "Take the brown bottle using the right arm and give it a shake.",
+    "Lift the cylindrical bottle with white label with the right arm and shake.",
+    "Grip the hand-sized bottle with grooves using the right arm and shake.",
+    "Lift the bottle with tapered cylindrical shape with the right arm and give it a shake.",
+    "Lift the hand-sized bottle with grooves with the right arm and shake it.",
+    "Pick the small drink bottle with logo up using the right arm and shake it.",
+    "Grab the smooth plastic bottle for beverages and shake it steadily.",
+    "Shake the smooth plastic bottle for beverages thoroughly after grabbing it.",
+    "Hold and shake the the plastic bottle with ribbed pattern carefully.",
+    "Use the right arm to grab the bottle with tapered cylindrical shape and shake it.",
+    "Shake the cylindrical bottle with white label after lifting it.",
+    "Use the right arm to grab the bottle with green cap and shake properly.",
+    "Shake the hand-sized bottle with grooves after grabbing it.",
+    "Use the right arm to pick and shake the brown bottle with green screw-on cap.",
+    "Shake the bottle with green cap using the right arm after grabbing.",
+    "Use the right arm to lift and shake the brown bottle.",
+    "Shake the the small drink bottle with logo properly after lifting.",
+    "Pick up the cylindrical bottle with white label and shake it.",
+    "Hold the bottle with tapered cylindrical shape with the right arm and shake lightly.",
+    "Shake the green-capped bottle after holding it firmly.",
+    "Pick up the brown bottle and shake it well.",
+    "Shake the hand-sized bottle with grooves firmly after grabbing.",
+    "Grasp the plastic bottle with ribbed pattern with the right arm and shake it."
+  ],
+  "unseen": [
+    "Use the right arm to pick the plastic Starbucks bottle.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Shake the plastic Starbucks bottle after picking it with the right arm.",
+    "Grab the bottle with coffee-colored body, shake it properly, then set it down.",
+    "Grab the bottle with Starbucks logo on label and give it a shake.",
+    "Pick and shake the the plastic Starbucks bottle with the right arm.",
+    "Grab the bottle with coffee-colored body and shake it.",
+    "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.",
+    "Use the right arm to pick the bottle with Starbucks logo on label.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Shake the bottle with Starbucks logo on label after picking it with the right arm.",
+    "Grab the bottle with coffee-colored body, shake it properly, then set it down.",
+    "Grab the plastic Starbucks bottle and give it a shake.",
+    "Pick and shake the the bottle with coffee-colored body with the right arm.",
+    "Grab the plastic Starbucks bottle and shake it.",
+    "Pick up the plastic Starbucks bottle 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 coffee-colored body and shake.",
+    "Use the right arm to pick the plastic Starbucks bottle.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Shake the bottle with coffee-colored body after picking it with the right arm.",
+    "Grab the bottle with coffee-colored body, shake it properly, then set it down.",
+    "Grab the bottle with coffee-colored body and give it a shake.",
+    "Pick and shake the the bottle with Starbucks logo on label with the right arm.",
+    "Grab the plastic Starbucks bottle and shake it.",
+    "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 coffee-colored body and shake.",
+    "Use the right arm to pick the plastic Starbucks bottle.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Shake the bottle with Starbucks logo on label after picking it with the right arm.",
+    "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.",
+    "Grab the plastic Starbucks bottle and give it a shake.",
+    "Pick and shake the the bottle with coffee-colored body with the right arm.",
+    "Grab the plastic Starbucks bottle and shake it.",
+    "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.",
+    "Use the right arm to pick the bottle with Starbucks logo on label.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Shake the plastic Starbucks bottle after picking it with the right arm.",
+    "Grab the plastic Starbucks bottle, shake it properly, then set it down.",
+    "Grab the bottle with Starbucks logo on label and give it a shake.",
+    "Pick and shake the the bottle with coffee-colored body with the right arm.",
+    "Grab the bottle with coffee-colored body and shake it.",
+    "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.",
+    "Use the right arm to pick the bottle with Starbucks logo on label.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Shake the plastic Starbucks bottle after picking it with the right arm.",
+    "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.",
+    "Grab the plastic Starbucks bottle and give it a shake.",
+    "Pick and shake the the bottle with coffee-colored body with the right arm.",
+    "Grab the plastic Starbucks bottle and shake it.",
+    "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.",
+    "Use the right arm to pick the bottle with Starbucks logo on label.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Shake the plastic Starbucks bottle after picking it with the right arm.",
+    "Grab the plastic Starbucks bottle, shake it properly, then set it down.",
+    "Grab the plastic Starbucks bottle and give it a shake.",
+    "Pick and shake the the bottle with coffee-colored body with the right arm.",
+    "Grab the bottle with Starbucks logo on label and shake it.",
+    "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.",
+    "Use the right arm to pick the plastic Starbucks bottle.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Shake the plastic Starbucks bottle after picking it with the right arm.",
+    "Grab the plastic Starbucks bottle, shake it properly, then set it down.",
+    "Grab the plastic Starbucks bottle and give it a shake.",
+    "Pick and shake the the plastic Starbucks bottle with the right arm.",
+    "Grab the bottle with coffee-colored body and shake it.",
+    "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.",
+    "Use the right arm to pick the bottle with Starbucks logo on label.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Shake the bottle with coffee-colored body after picking it with the right arm.",
+    "Grab the plastic Starbucks bottle, shake it properly, then set it down.",
+    "Grab the bottle with Starbucks logo on label and give it a shake.",
+    "Pick and shake the the bottle with Starbucks logo on label with the right arm.",
+    "Grab the bottle with Starbucks logo on label and shake it.",
+    "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 bottle with coffee-colored body and shake.",
+    "Use the right arm to pick the plastic Starbucks bottle.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Shake the plastic Starbucks bottle after picking it with the right arm.",
+    "Grab the bottle with coffee-colored body, shake it properly, then set it down.",
+    "Grab the plastic Starbucks bottle and give it a shake.",
+    "Pick and shake the the bottle with Starbucks logo on label with the right arm.",
+    "Grab the plastic Starbucks bottle and shake it.",
+    "Pick up the bottle with Starbucks logo on label 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."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001127.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the the plastic bottle properly after lifting.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Lift the white and blue bottle with the right arm and shake it.",
+    "Pick the cylindrical bottle up using the right arm and shake it.",
+    "Shake the plastic bottle firmly after grabbing.",
+    "Take the white bottle with blue accents using the right arm and give it a shake.",
+    "Grab and shake the medium-sized bottle using the right arm.",
+    "Shake the bottle with blue cap after lifting it.",
+    "Pick up the cylindrical bottle and shake it.",
+    "Pick the blue bottle and perform shaking motion.",
+    "Use the right arm to grab the medium bottle for beverages and shake it.",
+    "Shake the bottle with blue cap after grabbing it.",
+    "Hold the handheld bottle steady, then shake it.",
+    "Use the right arm to lift and shake the white and blue bottle.",
+    "Lift up the bottle for liquids using the right arm, then shake.",
+    "Lift the white and blue bottle and shake it thoroughly.",
+    "Pick the white bottle with blue accents, shake it with the right arm.",
+    "Grab the plastic bottle with the right arm and shake.",
+    "Hold the blue bottle with the right arm and shake lightly.",
+    "With the right arm, pick the cylindrical bottle and shake properly.",
+    "Use the right arm to lift and shake the bottle for liquids.",
+    "Grab the white and blue bottle and give it a shake.",
+    "Shake the medium-sized bottle after grabbing it.",
+    "Grab the bottle with blue cap and shake it steadily.",
+    "Pick the smooth plastic bottle up with the right arm and shake.",
+    "Grasp the smooth plastic bottle with the right arm and shake it.",
+    "Utilize the right arm to hold the white and blue bottle and shake it.",
+    "Catch the white bottle with blue accents and shake it instantly.",
+    "Lift the white and blue bottle and shake it gently.",
+    "Shake the blue bottle using the right arm after grabbing.",
+    "Using the right arm, shake the bottle for liquids and then place it back.",
+    "Lift the white bottle with blue accents with the right arm and give it a shake.",
+    "Hold and shake the the plastic bottle carefully.",
+    "Shake the blue bottle with label thoroughly after grabbing it.",
+    "Shake the white and blue bottle after grabbing it.",
+    "Grab the handheld bottle firmly, shake it, and put it down.",
+    "Grip the cylindrical bottle using the right arm and shake.",
+    "Grab the cylindrical bottle using the right arm, then shake.",
+    "Shake the bottle with blue cap after holding it firmly.",
+    "Use the right arm to pick and shake the white and blue bottle.",
+    "Hold the blue bottle with label, shake it briefly.",
+    "Pick up the cylindrical bottle and shake it well.",
+    "Secure the plastic bottle, shake it, and place it down.",
+    "Hold the blue bottle with label and shake it properly.",
+    "Grab the blue bottle carefully and shake.",
+    "Lift the cylindrical bottle with the right arm and shake.",
+    "Use the right arm to grab the medium-sized bottle and shake properly.",
+    "Secure the handheld bottle and perform a shake.",
+    "Grab the medium-sized bottle and move it to shake.",
+    "Use the right arm to hold the medium-sized bottle and shake it.",
+    "Shake the the medium-sized bottle properly after lifting.",
+    "Use the right arm to lift and shake the white and blue bottle.",
+    "Lift the blue bottle with the right arm and shake it.",
+    "Pick the plastic bottle up using the right arm and shake it.",
+    "Shake the bottle with blue cap firmly after grabbing.",
+    "Take the handheld bottle using the right arm and give it a shake.",
+    "Grab and shake the bottle for liquids using the right arm.",
+    "Shake the cylindrical bottle after lifting it.",
+    "Pick up the plastic bottle and shake it.",
+    "Pick the blue bottle with label and perform shaking motion.",
+    "Use the right arm to grab the plastic bottle and shake it.",
+    "Shake the bottle with blue cap after grabbing it.",
+    "Hold the blue bottle with label steady, then shake it.",
+    "Use the right arm to lift and shake the bottle with blue cap.",
+    "Lift up the white bottle with blue accents using the right arm, then shake.",
+    "Lift the blue bottle with label and shake it thoroughly.",
+    "Pick the bottle for liquids, shake it with the right arm.",
+    "Grab the cylindrical bottle with the right arm and shake.",
+    "Hold the handheld bottle with the right arm and shake lightly.",
+    "With the right arm, pick the medium-sized bottle and shake properly.",
+    "Use the right arm to lift and shake the white and blue bottle.",
+    "Grab the medium bottle for beverages and give it a shake.",
+    "Shake the bottle for liquids after grabbing it.",
+    "Grab the blue bottle and shake it steadily.",
+    "Pick the white bottle with blue accents up with the right arm and shake.",
+    "Grasp the handheld bottle with the right arm and shake it.",
+    "Utilize the right arm to hold the smooth plastic bottle and shake it.",
+    "Catch the bottle for liquids and shake it instantly.",
+    "Lift the bottle for liquids and shake it gently.",
+    "Shake the white bottle with blue accents using the right arm after grabbing.",
+    "Using the right arm, shake the smooth plastic bottle and then place it back.",
+    "Lift the white and blue bottle with the right arm and give it a shake.",
+    "Hold and shake the the plastic bottle carefully.",
+    "Shake the smooth plastic bottle thoroughly after grabbing it.",
+    "Shake the white and blue bottle after grabbing it.",
+    "Grab the medium bottle for beverages firmly, shake it, and put it down.",
+    "Grip the bottle for liquids using the right arm and shake.",
+    "Grab the plastic bottle using the right arm, then shake.",
+    "Shake the medium-sized bottle after holding it firmly.",
+    "Use the right arm to pick and shake the handheld bottle.",
+    "Hold the bottle for liquids, shake it briefly.",
+    "Pick up the medium-sized bottle and shake it well.",
+    "Secure the white and blue bottle, shake it, and place it down.",
+    "Hold the plastic bottle and shake it properly.",
+    "Grab the medium bottle for beverages carefully and shake.",
+    "Lift the blue bottle with the right arm and shake.",
+    "Use the right arm to grab the white and blue bottle and shake properly.",
+    "Secure the plastic bottle and perform a shake.",
+    "Grab the medium bottle for beverages and move it to shake.",
+    "Use the right arm to hold the medium bottle for beverages and shake it."
+  ],
+  "unseen": [
+    "Pick up the bottle with curved neck design and shake it.",
+    "Shake the bottle with curved neck design after picking it with the right arm.",
+    "Pick and shake the the bottle with ridged neck with the right arm.",
+    "Use the right arm to pick the bottle with ridged neck.",
+    "Use the right arm to grab the bottle with ridged neck and shake.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Pick up the blue-capped plastic bottle with the right arm and shake.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Shake the bottle with curved neck design after picking it with the right arm.",
+    "Pick and shake the the bottle with curved neck design with the right arm.",
+    "Use the right arm to pick the bottle with curved neck design.",
+    "Use the right arm to grab the bottle with ridged neck and shake.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Grab the blue-capped plastic bottle and give it a shake.",
+    "Pick up the bottle with curved neck design with the right arm and shake.",
+    "Grab the bottle with ridged neck, shake it properly, then set it down.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Shake the bottle with curved neck design after picking it with the right arm.",
+    "Pick and shake the the bottle with ridged neck with the right arm.",
+    "Use the right arm to pick the blue-capped plastic bottle.",
+    "Use the right arm to grab the bottle with curved neck design and shake.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Grab the bottle with curved neck design and shake it.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Pick up the bottle with curved neck design with the right arm and shake.",
+    "Grab the bottle with ridged neck, shake it properly, then set it down.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Shake the bottle with curved neck design after picking it with the right arm.",
+    "Pick and shake the the bottle with curved neck design with the right arm.",
+    "Use the right arm to pick the blue-capped plastic bottle.",
+    "Use the right arm to grab the blue-capped plastic bottle and shake.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Grab the blue-capped plastic bottle and give it a shake.",
+    "Pick up the bottle with curved neck design with the right arm and shake.",
+    "Grab the bottle with ridged neck, shake it properly, then set it down.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Shake the bottle with ridged neck after picking it with the right arm.",
+    "Pick and shake the the bottle with curved neck design with the right arm.",
+    "Use the right arm to pick the bottle with curved neck design.",
+    "Use the right arm to grab the bottle with curved neck design and shake.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Grab the bottle with curved neck design and shake it.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Pick up the bottle with ridged neck with the right arm and shake.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Shake the blue-capped plastic bottle after picking it with the right arm.",
+    "Pick and shake the the bottle with curved neck design with the right arm.",
+    "Use the right arm to pick the blue-capped plastic bottle.",
+    "Use the right arm to grab the bottle with ridged neck and shake.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Pick up the blue-capped plastic bottle with the right arm and shake.",
+    "Grab the blue-capped plastic bottle, shake it properly, then set it down.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Shake the bottle with curved neck design after picking it with the right arm.",
+    "Pick and shake the the bottle with ridged neck with the right arm.",
+    "Use the right arm to pick the blue-capped plastic bottle.",
+    "Use the right arm to grab the bottle with curved neck design and shake.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Pick up the bottle with curved neck design with the right arm and shake.",
+    "Grab the bottle with ridged neck, shake it properly, then set it down.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Shake the bottle with ridged neck after picking it with the right arm.",
+    "Pick and shake the the blue-capped plastic bottle with the right arm.",
+    "Use the right arm to pick the blue-capped plastic bottle.",
+    "Use the right arm to grab the bottle with curved neck design and shake.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Pick up the bottle with ridged neck with the right arm and shake.",
+    "Grab the blue-capped plastic bottle, shake it properly, then set it down.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Shake the bottle with curved neck design after picking it with the right arm.",
+    "Pick and shake the the bottle with curved neck design with the right arm.",
+    "Use the right arm to pick the bottle with ridged neck.",
+    "Use the right arm to grab the blue-capped plastic bottle and shake.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Grab the bottle with curved neck design and shake it.",
+    "Grab the blue-capped plastic bottle and give it a shake.",
+    "Pick up the bottle with ridged neck with the right arm and shake.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Shake the bottle with curved neck design after picking it with the right arm.",
+    "Pick and shake the the bottle with curved neck design with the right arm.",
+    "Use the right arm to pick the bottle with curved neck design.",
+    "Use the right arm to grab the bottle with ridged neck and shake.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Pick up the bottle with curved neck design with the right arm and shake.",
+    "Grab the blue-capped plastic bottle, shake it properly, then set it down."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001146.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the orange and white bottle with cap and shake it thoroughly.",
+    "Grab the cylindrical orange and white bottle using the left arm, then shake.",
+    "Pick the smooth plastic bottle up with the left arm and shake.",
+    "Lift the orange and white bottle with cap with the left arm and shake it.",
+    "Pick the orange bottle and perform shaking motion.",
+    "Pick up the bottle with orange cap and shake it well.",
+    "Hold and shake the the medium bottle with orange lid carefully.",
+    "Hold the medium orange bottle with the left arm and shake lightly.",
+    "Hold the orange and white bottle with cap, shake it briefly.",
+    "Pick the orange and white bottle with cap up using the left arm and shake it.",
+    "Shake the smooth plastic bottle using the left arm after grabbing.",
+    "Pick up the orange bottle and shake it.",
+    "Use the left arm to lift and shake the plastic bottle.",
+    "Shake the plastic bottle after grabbing it.",
+    "Use the left arm to lift and shake the smooth plastic bottle.",
+    "Lift up the medium bottle with orange lid using the left arm, then shake.",
+    "Grab the medium bottle with orange lid and give it a shake.",
+    "Use the left arm to grab the yellow label bottle and shake properly.",
+    "Shake the medium orange bottle after grabbing it.",
+    "Shake the orange and white bottle with cap after holding it firmly.",
+    "Take the cylindrical orange and white bottle using the left arm and give it a shake.",
+    "Grab the smooth plastic bottle firmly, shake it, and put it down.",
+    "Lift the cylindrical orange and white bottle with the left arm and give it a shake.",
+    "Secure the cylindrical orange and white bottle and perform a shake.",
+    "Shake the medium bottle with orange lid thoroughly after grabbing it.",
+    "Grab the bottle with ribbed orange bottom and shake it steadily.",
+    "Grab and shake the orange bottle using the left arm.",
+    "Grip the smooth plastic bottle using the left arm and shake.",
+    "Use the left arm to hold the orange bottle and shake it.",
+    "Hold the cylindrical orange and white bottle and shake it properly.",
+    "Use the left arm to lift and shake the bottle with orange cap.",
+    "Shake the the bottle with ribbed orange bottom properly after lifting.",
+    "Grab the smooth plastic bottle carefully and shake.",
+    "Use the left arm to pick and shake the medium orange bottle.",
+    "Secure the medium bottle with orange lid, shake it, and place it down.",
+    "Lift the bottle with orange cap with the left arm and shake.",
+    "Lift the orange bottle and shake it gently.",
+    "Utilize the left arm to hold the smooth plastic bottle and shake it.",
+    "Use the left arm to grab the bottle with ribbed orange bottom and shake it.",
+    "Grab the orange and white bottle with cap and move it to shake.",
+    "Grab the orange and white bottle with cap with the left arm and shake.",
+    "With the left arm, pick the orange bottle and shake properly.",
+    "Catch the smooth plastic bottle and shake it instantly.",
+    "Shake the yellow label bottle after lifting it.",
+    "Using the left arm, shake the medium orange bottle and then place it back.",
+    "Shake the plastic bottle firmly after grabbing.",
+    "Shake the medium orange bottle after grabbing it.",
+    "Hold the orange and white bottle with cap steady, then shake it.",
+    "Grasp the plastic bottle with the left arm and shake it.",
+    "Pick the medium bottle with orange lid, shake it with the left arm.",
+    "Lift the plastic bottle and shake it thoroughly.",
+    "Grab the cylindrical orange and white bottle using the left arm, then shake.",
+    "Pick the white and orange plastic bottle up with the left arm and shake.",
+    "Lift the plastic bottle with the left arm and shake it.",
+    "Pick the cylindrical orange and white bottle and perform shaking motion.",
+    "Pick up the yellow label bottle and shake it well.",
+    "Hold and shake the the yellow label bottle carefully.",
+    "Hold the bottle with orange cap with the left arm and shake lightly.",
+    "Hold the cylindrical orange and white bottle, shake it briefly.",
+    "Pick the drinking bottle with yellow label up using the left arm and shake it.",
+    "Shake the orange bottle using the left arm after grabbing.",
+    "Pick up the orange and white bottle with cap and shake it.",
+    "Use the left arm to lift and shake the bottle with orange cap.",
+    "Shake the orange bottle after grabbing it.",
+    "Use the left arm to lift and shake the medium bottle with orange lid.",
+    "Lift up the bottle with orange cap using the left arm, then shake.",
+    "Grab the plastic bottle and give it a shake.",
+    "Use the left arm to grab the white and orange plastic bottle and shake properly.",
+    "Shake the orange and white bottle with cap after grabbing it.",
+    "Shake the drinking bottle with yellow label after holding it firmly.",
+    "Take the orange and white bottle with cap using the left arm and give it a shake.",
+    "Grab the smooth plastic bottle firmly, shake it, and put it down.",
+    "Lift the cylindrical orange and white bottle with the left arm and give it a shake.",
+    "Secure the plastic bottle and perform a shake.",
+    "Shake the bottle with orange cap thoroughly after grabbing it.",
+    "Grab the medium bottle with orange lid and shake it steadily.",
+    "Grab and shake the yellow label bottle using the left arm.",
+    "Grip the white and orange plastic bottle using the left arm and shake.",
+    "Use the left arm to hold the plastic bottle and shake it.",
+    "Hold the orange bottle and shake it properly.",
+    "Use the left arm to lift and shake the white and orange plastic bottle.",
+    "Shake the the white and orange plastic bottle properly after lifting.",
+    "Grab the bottle with orange cap carefully and shake.",
+    "Use the left arm to pick and shake the medium orange bottle.",
+    "Secure the smooth plastic bottle, shake it, and place it down.",
+    "Lift the cylindrical orange and white bottle with the left arm and shake.",
+    "Lift the medium bottle with orange lid and shake it gently.",
+    "Utilize the left arm to hold the plastic bottle and shake it.",
+    "Use the left arm to grab the yellow label bottle and shake it.",
+    "Grab the white and orange plastic bottle and move it to shake.",
+    "Grab the medium bottle with orange lid with the left arm and shake.",
+    "With the left arm, pick the smooth plastic bottle and shake properly.",
+    "Catch the smooth plastic bottle and shake it instantly.",
+    "Shake the smooth plastic bottle after lifting it.",
+    "Using the left arm, shake the white and orange plastic bottle and then place it back.",
+    "Shake the white and orange plastic bottle firmly after grabbing.",
+    "Shake the smooth plastic bottle after grabbing it.",
+    "Hold the medium orange bottle steady, then shake it.",
+    "Grasp the bottle with orange cap with the left arm and shake it.",
+    "Pick the smooth plastic bottle, shake it with the left arm."
+  ],
+  "unseen": [
+    "Pick up the bottle with curved body and shake it.",
+    "Pick up the bottle with curved body and shake it.",
+    "Use the left arm to grab the bottle with yellow sticker label and shake.",
+    "Pick up the bottle with curved body with the left arm and shake.",
+    "Shake the curvy orange bottle with white section after picking it with the left arm.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Use the left arm to pick the curvy orange bottle with white section.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Pick and shake the the bottle with yellow sticker label with the left arm.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Use the left arm to grab the bottle with yellow sticker label and shake.",
+    "Pick up the curvy orange bottle with white section with the left arm and shake.",
+    "Shake the bottle with yellow sticker label after picking it with the left arm.",
+    "Grab the bottle with curved body and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Use the left arm to pick the bottle with curved body.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick and shake the the bottle with curved body with the left arm.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Use the left arm to grab the bottle with curved body and shake.",
+    "Pick up the curvy orange bottle with white section with the left arm and shake.",
+    "Shake the bottle with yellow sticker label after picking it with the left arm.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Use the left arm to pick the bottle with curved body.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick and shake the the bottle with yellow sticker label with the left arm.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick up the bottle with curved body and shake it.",
+    "Use the left arm to grab the bottle with curved body and shake.",
+    "Pick up the bottle with curved body with the left arm and shake.",
+    "Shake the bottle with yellow sticker label after picking it with the left arm.",
+    "Grab the bottle with curved body and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Use the left arm to pick the curvy orange bottle with white section.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick and shake the the bottle with yellow sticker label with the left arm.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Use the left arm to grab the bottle with yellow sticker label and shake.",
+    "Pick up the curvy orange bottle with white section with the left arm and shake.",
+    "Shake the bottle with yellow sticker label after picking it with the left arm.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Use the left arm to pick the bottle with yellow sticker label.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Pick and shake the the bottle with yellow sticker label with the left arm.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick up the bottle with curved body and shake it.",
+    "Use the left arm to grab the bottle with curved body and shake.",
+    "Pick up the bottle with curved body with the left arm and shake.",
+    "Shake the bottle with yellow sticker label after picking it with the left arm.",
+    "Grab the bottle with curved body and shake it.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Use the left arm to pick the curvy orange bottle with white section.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick and shake the the curvy orange bottle with white section with the left arm.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Use the left arm to grab the bottle with curved body and shake.",
+    "Pick up the bottle with curved body with the left arm and shake.",
+    "Shake the curvy orange bottle with white section after picking it with the left arm.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Use the left arm to pick the curvy orange bottle with white section.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick and shake the the curvy orange bottle with white section with the left arm.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Use the left arm to grab the bottle with curved body and shake.",
+    "Pick up the bottle with curved body with the left arm and shake.",
+    "Shake the bottle with curved body after picking it with the left arm.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Use the left arm to pick the bottle with curved body.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick and shake the the bottle with curved body with the left arm.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Use the left arm to grab the bottle with yellow sticker label and shake.",
+    "Pick up the bottle with yellow sticker label with the left arm and shake.",
+    "Shake the bottle with yellow sticker label after picking it with the left arm.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Use the left arm to pick the curvy orange bottle with white section.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Pick and shake the the bottle with yellow sticker label with the left arm.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Use the left arm to grab the bottle with curved body and shake.",
+    "Pick up the curvy orange bottle with white section with the left arm and shake.",
+    "Shake the bottle with curved body after picking it with the left arm.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Use the left arm to pick the bottle with curved body.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick and shake the the bottle with curved body with the left arm."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001161.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the Coca-Cola bottle, shake it, and place it down.",
+    "Grab and shake the smooth bottle with red lid using the left arm.",
+    "Secure the Coca-Cola bottle and perform a shake.",
+    "Pick the long thin bottle up with the left arm and shake.",
+    "Shake the Coca-Cola bottle thoroughly after grabbing it.",
+    "Lift the smooth bottle with red lid with the left arm and shake it.",
+    "Shake the the bottle with white neck and red top properly after lifting.",
+    "Shake the smooth bottle with red lid after grabbing it.",
+    "Take the long thin bottle using the left arm and give it a shake.",
+    "Using the left arm, shake the brown bottle with red label and then place it back.",
+    "Hold the dark drink bottle with logo and shake it properly.",
+    "Grab the red-capped bottle firmly, shake it, and put it down.",
+    "Grab the brown bottle with red label using the left arm, then shake.",
+    "Grab the medium dark brown bottle and give it a shake.",
+    "Use the left arm to hold the smooth bottle with red lid and shake it.",
+    "Use the left arm to lift and shake the hand-sized soda bottle.",
+    "Pick the brown bottle with red label up using the left arm and shake it.",
+    "Pick the medium dark brown bottle and perform shaking motion.",
+    "Use the left arm to pick and shake the dark drink bottle with logo.",
+    "Hold the plastic drink bottle with the left arm and shake lightly.",
+    "Grab the hand-sized soda bottle and shake it steadily.",
+    "Grab the long thin bottle with the left arm and shake.",
+    "Lift the brown bottle with red label and shake it thoroughly.",
+    "Shake the brown bottle with red label after grabbing it.",
+    "Pick the brown bottle with red label, shake it with the left arm.",
+    "Use the left arm to lift and shake the smooth bottle with red lid.",
+    "Use the left arm to lift and shake the bottle with white neck and red top.",
+    "Pick up the brown bottle with red label and shake it.",
+    "With the left arm, pick the narrow-necked bottle and shake properly.",
+    "Shake the hand-sized soda bottle firmly after grabbing.",
+    "Grasp the plastic drink bottle with the left arm and shake it.",
+    "Grab the bottle with ridges on bottom and move it to shake.",
+    "Utilize the left arm to hold the dark drink bottle with logo and shake it.",
+    "Hold the Coca-Cola bottle steady, then shake it.",
+    "Shake the bottle with ridges on bottom using the left arm after grabbing.",
+    "Use the left arm to grab the Coca-Cola bottle and shake properly.",
+    "Grip the bottle with ridges on bottom using the left arm and shake.",
+    "Pick up the dark drink bottle with logo and shake it well.",
+    "Shake the brown bottle with red label after holding it firmly.",
+    "Shake the plastic drink bottle after lifting it.",
+    "Use the left arm to grab the hand-sized soda bottle and shake it.",
+    "Lift up the brown bottle with red label using the left arm, then shake.",
+    "Shake the brown bottle with red label after grabbing it.",
+    "Lift the smooth bottle with red lid with the left arm and give it a shake.",
+    "Hold the bottle with white neck and red top, shake it briefly.",
+    "Hold and shake the the dark drink bottle with logo carefully.",
+    "Catch the red-capped bottle and shake it instantly.",
+    "Lift the hand-sized soda bottle with the left arm and shake.",
+    "Lift the Coca-Cola bottle and shake it gently.",
+    "Grab the red-capped bottle carefully and shake.",
+    "Secure the smooth bottle with red lid, shake it, and place it down.",
+    "Grab and shake the long thin bottle using the left arm.",
+    "Secure the dark drink bottle with logo and perform a shake.",
+    "Pick the long thin bottle up with the left arm and shake.",
+    "Shake the narrow-necked bottle thoroughly after grabbing it.",
+    "Lift the red-capped bottle with the left arm and shake it.",
+    "Shake the the dark drink bottle with logo properly after lifting.",
+    "Shake the hand-sized soda bottle after grabbing it.",
+    "Take the Coca-Cola bottle using the left arm and give it a shake.",
+    "Using the left arm, shake the bottle with white neck and red top and then place it back.",
+    "Hold the long thin bottle and shake it properly.",
+    "Grab the brown bottle with red label firmly, shake it, and put it down.",
+    "Grab the narrow-necked bottle using the left arm, then shake.",
+    "Grab the Coca-Cola bottle and give it a shake.",
+    "Use the left arm to hold the plastic drink bottle and shake it.",
+    "Use the left arm to lift and shake the narrow-necked bottle.",
+    "Pick the bottle with ridges on bottom up using the left arm and shake it.",
+    "Pick the Coca-Cola bottle and perform shaking motion.",
+    "Use the left arm to pick and shake the narrow-necked bottle.",
+    "Hold the red-capped bottle with the left arm and shake lightly.",
+    "Grab the bottle with ridges on bottom and shake it steadily.",
+    "Grab the smooth bottle with red lid with the left arm and shake.",
+    "Lift the bottle with white neck and red top and shake it thoroughly.",
+    "Shake the smooth bottle with red lid after grabbing it.",
+    "Pick the smooth bottle with red lid, shake it with the left arm.",
+    "Use the left arm to lift and shake the bottle with ridges on bottom.",
+    "Use the left arm to lift and shake the brown bottle with red label.",
+    "Pick up the medium dark brown bottle and shake it.",
+    "With the left arm, pick the bottle with ridges on bottom and shake properly.",
+    "Shake the hand-sized soda bottle firmly after grabbing.",
+    "Grasp the long thin bottle with the left arm and shake it.",
+    "Grab the bottle with ridges on bottom and move it to shake.",
+    "Utilize the left arm to hold the bottle with ridges on bottom and shake it.",
+    "Hold the medium dark brown bottle steady, then shake it.",
+    "Shake the smooth bottle with red lid using the left arm after grabbing.",
+    "Use the left arm to grab the bottle with white neck and red top and shake properly.",
+    "Grip the long thin bottle using the left arm and shake.",
+    "Pick up the hand-sized soda bottle and shake it well.",
+    "Shake the red-capped bottle after holding it firmly.",
+    "Shake the bottle with ridges on bottom after lifting it.",
+    "Use the left arm to grab the bottle with ridges on bottom and shake it.",
+    "Lift up the hand-sized soda bottle using the left arm, then shake.",
+    "Shake the hand-sized soda bottle after grabbing it.",
+    "Lift the bottle with ridges on bottom with the left arm and give it a shake.",
+    "Hold the smooth bottle with red lid, shake it briefly.",
+    "Hold and shake the the medium dark brown bottle carefully.",
+    "Catch the Coca-Cola bottle and shake it instantly.",
+    "Lift the narrow-necked bottle with the left arm and shake.",
+    "Lift the brown bottle with red label and shake it gently.",
+    "Grab the brown bottle with red label carefully and shake."
+  ],
+  "unseen": [
+    "Use the left arm to grab the bottle with red screw cap and shake.",
+    "Shake the plastic soda bottle after picking it with the left arm.",
+    "Use the left arm to pick the plastic soda bottle.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the plastic soda bottle and shake it.",
+    "Pick and shake the the plastic soda bottle with the left arm.",
+    "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.",
+    "Use the left arm to grab the bottle with red screw cap and shake.",
+    "Shake the brown bottle after picking it with the left arm.",
+    "Use the left arm to pick the plastic soda bottle.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Grab the brown bottle and shake it.",
+    "Pick and shake the the bottle with red screw cap with the left arm.",
+    "Pick up the bottle with red screw cap 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.",
+    "Use the left arm to grab the plastic soda bottle and shake.",
+    "Shake the brown bottle after picking it with the left arm.",
+    "Use the left arm to pick the bottle with red screw cap.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the plastic soda bottle and shake it.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "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.",
+    "Use the left arm to grab the bottle with red screw cap and shake.",
+    "Shake the brown bottle after picking it with the left arm.",
+    "Use the left arm to pick the brown bottle.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Pick and shake the the bottle with red screw cap with the left arm.",
+    "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 bottle with red screw cap, shake it properly, then set it down.",
+    "Use the left arm to grab the plastic soda bottle and shake.",
+    "Shake the brown bottle after picking it with the left arm.",
+    "Use the left arm to pick the bottle with red screw cap.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the plastic soda bottle and shake it.",
+    "Pick and shake the the plastic soda bottle with the left arm.",
+    "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 plastic soda bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the plastic soda bottle and shake.",
+    "Shake the bottle with red screw cap after picking it with the left arm.",
+    "Use the left arm to pick the bottle with red screw cap.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Grab the plastic soda bottle and shake it.",
+    "Pick and shake the the plastic soda bottle with the left arm.",
+    "Pick up the plastic soda bottle with the left arm and shake.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with red screw cap and shake.",
+    "Shake the plastic soda bottle after picking it with the left arm.",
+    "Use the left arm to pick the bottle with red screw cap.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the brown bottle and shake it.",
+    "Pick and shake the the plastic soda bottle with the left arm.",
+    "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.",
+    "Use the left arm to grab the bottle with red screw cap and shake.",
+    "Shake the brown bottle after picking it with the left arm.",
+    "Use the left arm to pick the brown bottle.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "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.",
+    "Use the left arm to grab the bottle with red screw cap and shake.",
+    "Shake the plastic soda bottle after picking it with the left arm.",
+    "Use the left arm to pick the brown bottle.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Pick up the plastic soda 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.",
+    "Use the left arm to grab the bottle with red screw cap and shake.",
+    "Shake the bottle with red screw cap after picking it with the left arm.",
+    "Use the left arm to pick the bottle with red screw cap.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Grab the brown bottle and shake it.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "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 bottle with red screw cap, shake it properly, then set it down."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001162.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the smooth bottle with rounded edges, shake it briefly.",
+    "Grab the yellow bottle and move it to shake.",
+    "Grab and shake the yellow plastic bottle with white top using the right arm.",
+    "Pick up the plastic bottle and shake it.",
+    "Pick the yellow bottle with a green design, shake it with the right arm.",
+    "Take the yellow bottle using the right arm and give it a shake.",
+    "Secure the bottle with white cap and perform a shake.",
+    "Grab the bottle with a smooth plastic body with the right arm and shake.",
+    "Lift the bottle with green and white labels with the right arm and shake.",
+    "Pick the yellow plastic bottle with white top and perform shaking motion.",
+    "Hold and shake the the medium rectangular yellow bottle carefully.",
+    "Grab the yellow plastic bottle with white top using the right arm, then shake.",
+    "Shake the medium rectangular yellow bottle after grabbing it.",
+    "Pick the bottle with white cap up using the right arm and shake it.",
+    "Hold the bottle with green label with the right arm and shake lightly.",
+    "Lift the bottle with white cap and shake it thoroughly.",
+    "Grab the bottle with green label and shake it steadily.",
+    "Hold the yellow bottle steady, then shake it.",
+    "Use the right arm to lift and shake the bottle with white cap.",
+    "Secure the yellow bottle, shake it, and place it down.",
+    "Grab the bottle with a smooth plastic body and give it a shake.",
+    "Grab the yellow bottle with a green design firmly, shake it, and put it down.",
+    "Shake the bottle with a smooth plastic body after grabbing it.",
+    "Shake the bottle with green and white labels using the right arm after grabbing.",
+    "Use the right arm to grab the yellow container with rounded edges and shake it.",
+    "Use the right arm to lift and shake the yellow bottle.",
+    "Grab the yellow bottle carefully and shake.",
+    "Shake the yellow plastic bottle with white top after holding it firmly.",
+    "Shake the yellow bottle firmly after grabbing.",
+    "Hold the bottle with a smooth plastic body and shake it properly.",
+    "Lift the yellow bottle with the right arm and give it a shake.",
+    "Catch the yellow bottle and shake it instantly.",
+    "Use the right arm to lift and shake the yellow container with rounded edges.",
+    "Lift the rectangular bottle with cylindrical neck and shake it gently.",
+    "Grip the plastic bottle using the right arm and shake.",
+    "Lift up the rectangular bottle with cylindrical neck using the right arm, then shake.",
+    "Use the right arm to hold the bottle with a smooth plastic body and shake it.",
+    "Shake the bottle with a smooth plastic body after lifting it.",
+    "Utilize the right arm to hold the bottle with white cap and shake it.",
+    "Pick up the bottle with white cap and shake it well.",
+    "Use the right arm to grab the yellow bottle and shake properly.",
+    "Using the right arm, shake the bottle with green and white labels and then place it back.",
+    "With the right arm, pick the yellow plastic bottle with white top and shake properly.",
+    "Shake the the yellow container with rounded edges properly after lifting.",
+    "Grasp the bottle with green label with the right arm and shake it.",
+    "Pick the yellow bottle up with the right arm and shake.",
+    "Use the right arm to pick and shake the rectangular bottle with cylindrical neck.",
+    "Shake the rectangular bottle with cylindrical neck thoroughly after grabbing it.",
+    "Shake the plastic bottle after grabbing it.",
+    "Lift the rectangular bottle with cylindrical neck with the right arm and shake it.",
+    "Hold the yellow bottle, shake it briefly.",
+    "Grab the yellow plastic bottle with white top and move it to shake.",
+    "Grab and shake the bottle with a smooth plastic body using the right arm.",
+    "Pick up the yellow plastic bottle with white top and shake it.",
+    "Pick the bottle with a smooth plastic body, shake it with the right arm.",
+    "Take the plastic bottle using the right arm and give it a shake.",
+    "Secure the rectangular bottle with cylindrical neck and perform a shake.",
+    "Grab the rectangular bottle with cylindrical neck with the right arm and shake.",
+    "Lift the yellow container with rounded edges with the right arm and shake.",
+    "Pick the yellow plastic bottle with white top and perform shaking motion.",
+    "Hold and shake the the bottle with white cap carefully.",
+    "Grab the medium rectangular yellow bottle using the right arm, then shake.",
+    "Shake the rectangular bottle with cylindrical neck after grabbing it.",
+    "Pick the medium rectangular yellow bottle up using the right arm and shake it.",
+    "Hold the plastic bottle with the right arm and shake lightly.",
+    "Lift the yellow container with rounded edges and shake it thoroughly.",
+    "Grab the yellow bottle with a green design and shake it steadily.",
+    "Hold the medium rectangular yellow bottle steady, then shake it.",
+    "Use the right arm to lift and shake the yellow bottle.",
+    "Secure the medium rectangular yellow bottle, shake it, and place it down.",
+    "Grab the yellow bottle and give it a shake.",
+    "Grab the rectangular bottle with cylindrical neck firmly, shake it, and put it down.",
+    "Shake the yellow bottle with a green design after grabbing it.",
+    "Shake the medium rectangular yellow bottle using the right arm after grabbing.",
+    "Use the right arm to grab the bottle with green label and shake it.",
+    "Use the right arm to lift and shake the yellow plastic bottle with white top.",
+    "Grab the yellow bottle carefully and shake.",
+    "Shake the bottle with green and white labels after holding it firmly.",
+    "Shake the medium rectangular yellow bottle firmly after grabbing.",
+    "Hold the rectangular bottle with cylindrical neck and shake it properly.",
+    "Lift the smooth bottle with rounded edges with the right arm and give it a shake.",
+    "Catch the bottle with white cap and shake it instantly.",
+    "Use the right arm to lift and shake the bottle with green and white labels.",
+    "Lift the yellow container with rounded edges and shake it gently.",
+    "Grip the bottle with white cap using the right arm and shake.",
+    "Lift up the medium rectangular yellow bottle using the right arm, then shake.",
+    "Use the right arm to hold the plastic bottle and shake it.",
+    "Shake the smooth bottle with rounded edges after lifting it.",
+    "Utilize the right arm to hold the yellow container with rounded edges and shake it.",
+    "Pick up the plastic bottle and shake it well.",
+    "Use the right arm to grab the bottle with green label and shake properly.",
+    "Using the right arm, shake the yellow container with rounded edges and then place it back.",
+    "With the right arm, pick the bottle with green label and shake properly.",
+    "Shake the the medium rectangular yellow bottle properly after lifting.",
+    "Grasp the yellow bottle with a green design with the right arm and shake it.",
+    "Pick the yellow container with rounded edges up with the right arm and shake.",
+    "Use the right arm to pick and shake the yellow plastic bottle with white top.",
+    "Shake the bottle with a smooth plastic body thoroughly after grabbing it.",
+    "Shake the yellow plastic bottle with white top after grabbing it.",
+    "Lift the yellow bottle with the right arm and shake it."
+  ],
+  "unseen": [
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Shake the yellow rectangular bottle after picking it with the right arm.",
+    "Use the right arm to grab the yellow rectangular bottle and shake.",
+    "Use the right arm to pick the yellow bottle for liquid storage.",
+    "Pick up the yellow rectangular bottle with the right arm and shake.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Shake the yellow rectangular bottle after picking it with the right arm.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Pick and shake the the yellow rectangular bottle with the right arm.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Use the right arm to grab the yellow rectangular bottle and shake.",
+    "Use the right arm to pick the hand-sized yellow plastic bottle.",
+    "Pick up the yellow bottle for liquid storage with the right arm and shake.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Shake the yellow rectangular bottle after picking it with the right arm.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake.",
+    "Use the right arm to pick the yellow bottle for liquid storage.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Pick and shake the the yellow bottle for liquid storage with the right arm.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Shake the yellow bottle for liquid storage after picking it with the right arm.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake.",
+    "Use the right arm to pick the yellow bottle for liquid storage.",
+    "Pick up the yellow bottle for liquid storage with the right arm and shake.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Pick and shake the the yellow bottle for liquid storage with the right arm.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Use the right arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Use the right arm to pick the yellow bottle for liquid storage.",
+    "Pick up the yellow bottle for liquid storage with the right arm and shake.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Pick and shake the the yellow bottle for liquid storage with the right arm.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Shake the yellow rectangular bottle after picking it with the right arm.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Pick and shake the the yellow bottle for liquid storage with the right arm.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Shake the yellow rectangular bottle after picking it with the right arm.",
+    "Use the right arm to grab the yellow rectangular bottle and shake.",
+    "Use the right arm to pick the yellow bottle for liquid storage.",
+    "Pick up the yellow bottle for liquid storage with the right arm and shake.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Pick and shake the the yellow bottle for liquid storage with the right arm.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Shake the yellow rectangular bottle after picking it with the right arm.",
+    "Use the right arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Use the right arm to pick the hand-sized yellow plastic bottle.",
+    "Pick up the yellow rectangular bottle with the right arm and shake.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "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.",
+    "Pick and shake the the yellow bottle for liquid storage with the right arm.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Shake the yellow bottle for liquid storage after picking it with the right arm.",
+    "Use the right arm to grab the yellow rectangular bottle and shake.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001165.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the blue bottle with label and move it to shake.",
+    "Utilize the right arm to hold the white bottle with blue accents and shake it.",
+    "Use the right arm to grab the smooth plastic bottle and shake properly.",
+    "Grab the bottle for liquids carefully and shake.",
+    "Grab and shake the bottle for liquids using the right arm.",
+    "With the right arm, pick the blue bottle with label and shake properly.",
+    "Lift the white bottle with blue accents with the right arm and shake it.",
+    "Hold the white and blue bottle, shake it briefly.",
+    "Grab the medium bottle for beverages using the right arm, then shake.",
+    "Lift the handheld bottle and shake it gently.",
+    "Hold the blue bottle with label steady, then shake it.",
+    "Shake the bottle with blue cap using the right arm after grabbing.",
+    "Pick the white bottle with blue accents and perform shaking motion.",
+    "Grip the medium-sized bottle using the right arm and shake.",
+    "Use the right arm to lift and shake the bottle for liquids.",
+    "Lift the cylindrical bottle with the right arm and shake.",
+    "Lift up the plastic bottle using the right arm, then shake.",
+    "Hold the blue bottle with label with the right arm and shake lightly.",
+    "Using the right arm, shake the bottle for liquids and then place it back.",
+    "Grab the white bottle with blue accents firmly, shake it, and put it down.",
+    "Catch the cylindrical bottle and shake it instantly.",
+    "Pick the bottle for liquids, shake it with the right arm.",
+    "Lift the handheld bottle with the right arm and give it a shake.",
+    "Pick up the blue bottle with label and shake it well.",
+    "Shake the white and blue bottle firmly after grabbing.",
+    "Shake the the blue bottle with label properly after lifting.",
+    "Shake the white bottle with blue accents after grabbing it.",
+    "Grab the smooth plastic bottle with the right arm and shake.",
+    "Shake the cylindrical bottle thoroughly after grabbing it.",
+    "Pick the medium-sized bottle up with the right arm and shake.",
+    "Secure the medium bottle for beverages and perform a shake.",
+    "Pick up the smooth plastic bottle and shake it.",
+    "Grab the plastic bottle and give it a shake.",
+    "Shake the cylindrical bottle after holding it firmly.",
+    "Lift the blue bottle and shake it thoroughly.",
+    "Shake the handheld bottle after grabbing it.",
+    "Take the blue bottle with label using the right arm and give it a shake.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Shake the cylindrical bottle after grabbing it.",
+    "Use the right arm to pick and shake the handheld bottle.",
+    "Use the right arm to grab the plastic bottle and shake it.",
+    "Shake the medium-sized bottle after lifting it.",
+    "Use the right arm to hold the bottle with blue cap and shake it.",
+    "Grasp the white bottle with blue accents with the right arm and shake it.",
+    "Grab the handheld bottle and shake it steadily.",
+    "Secure the blue bottle, shake it, and place it down.",
+    "Pick the cylindrical bottle up using the right arm and shake it.",
+    "Hold the cylindrical bottle and shake it properly.",
+    "Hold and shake the the blue bottle carefully.",
+    "Use the right arm to lift and shake the smooth plastic bottle.",
+    "Grab the smooth plastic bottle and move it to shake.",
+    "Utilize the right arm to hold the blue bottle with label and shake it.",
+    "Use the right arm to grab the handheld bottle and shake properly.",
+    "Grab the handheld bottle carefully and shake.",
+    "Grab and shake the smooth plastic bottle using the right arm.",
+    "With the right arm, pick the medium bottle for beverages and shake properly.",
+    "Lift the handheld bottle with the right arm and shake it.",
+    "Hold the white and blue bottle, shake it briefly.",
+    "Grab the smooth plastic bottle using the right arm, then shake.",
+    "Lift the plastic bottle and shake it gently.",
+    "Hold the plastic bottle steady, then shake it.",
+    "Shake the medium-sized bottle using the right arm after grabbing.",
+    "Pick the medium-sized bottle and perform shaking motion.",
+    "Grip the bottle for liquids using the right arm and shake.",
+    "Use the right arm to lift and shake the smooth plastic bottle.",
+    "Lift the blue bottle with label with the right arm and shake.",
+    "Lift up the blue bottle with label using the right arm, then shake.",
+    "Hold the blue bottle with label with the right arm and shake lightly.",
+    "Using the right arm, shake the medium bottle for beverages and then place it back.",
+    "Grab the blue bottle firmly, shake it, and put it down.",
+    "Catch the medium bottle for beverages and shake it instantly.",
+    "Pick the white and blue bottle, shake it with the right arm.",
+    "Lift the cylindrical bottle with the right arm and give it a shake.",
+    "Pick up the cylindrical bottle and shake it well.",
+    "Shake the white bottle with blue accents firmly after grabbing.",
+    "Shake the the blue bottle properly after lifting.",
+    "Shake the white bottle with blue accents after grabbing it.",
+    "Grab the blue bottle with label with the right arm and shake.",
+    "Shake the blue bottle with label thoroughly after grabbing it.",
+    "Pick the medium-sized bottle up with the right arm and shake.",
+    "Secure the plastic bottle and perform a shake.",
+    "Pick up the bottle with blue cap and shake it.",
+    "Grab the blue bottle and give it a shake.",
+    "Shake the medium-sized bottle after holding it firmly.",
+    "Lift the handheld bottle and shake it thoroughly.",
+    "Shake the blue bottle with label after grabbing it.",
+    "Take the bottle for liquids using the right arm and give it a shake.",
+    "Use the right arm to lift and shake the bottle for liquids.",
+    "Shake the handheld bottle after grabbing it.",
+    "Use the right arm to pick and shake the smooth plastic bottle.",
+    "Use the right arm to grab the white and blue bottle and shake it.",
+    "Shake the bottle for liquids after lifting it.",
+    "Use the right arm to hold the plastic bottle and shake it.",
+    "Grasp the smooth plastic bottle with the right arm and shake it.",
+    "Grab the medium bottle for beverages and shake it steadily.",
+    "Secure the cylindrical bottle, shake it, and place it down.",
+    "Pick the plastic bottle up using the right arm and shake it.",
+    "Hold the plastic bottle and shake it properly.",
+    "Hold and shake the the bottle for liquids carefully.",
+    "Use the right arm to lift and shake the white and blue bottle."
+  ],
+  "unseen": [
+    "Pick and shake the the bottle with curved neck design with the right arm.",
+    "Use the right arm to pick the bottle with ridged neck.",
+    "Pick up the bottle with curved neck design with the right arm and shake.",
+    "Grab the blue-capped plastic bottle, shake it properly, then set it down.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Use the right arm to grab the bottle with curved neck design and shake.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Grab the blue-capped plastic bottle and give it a shake.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Shake the bottle with curved neck design after picking it with the right arm.",
+    "Pick and shake the the bottle with ridged neck with the right arm.",
+    "Use the right arm to pick the blue-capped plastic bottle.",
+    "Pick up the blue-capped plastic bottle with the right arm and shake.",
+    "Grab the bottle with ridged neck, shake it properly, then set it down.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Use the right arm to grab the bottle with ridged neck and shake.",
+    "Grab the bottle with curved neck design and shake it.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Shake the bottle with ridged neck after picking it with the right arm.",
+    "Pick and shake the the blue-capped plastic bottle with the right arm.",
+    "Use the right arm to pick the bottle with ridged neck.",
+    "Pick up the blue-capped plastic bottle with the right arm and shake.",
+    "Grab the bottle with ridged neck, shake it properly, then set it down.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Use the right arm to grab the bottle with curved neck design and shake.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Grab the blue-capped plastic bottle and give it a shake.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Shake the bottle with ridged neck after picking it with the right arm.",
+    "Pick and shake the the bottle with ridged neck with the right arm.",
+    "Use the right arm to pick the blue-capped plastic bottle.",
+    "Pick up the bottle with curved neck design with the right arm and shake.",
+    "Grab the bottle with ridged neck, shake it properly, then set it down.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Use the right arm to grab the bottle with curved neck design and shake.",
+    "Grab the bottle with curved neck design and shake it.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Shake the blue-capped plastic bottle after picking it with the right arm.",
+    "Pick and shake the the bottle with ridged neck with the right arm.",
+    "Use the right arm to pick the bottle with ridged neck.",
+    "Pick up the bottle with ridged neck with the right arm and shake.",
+    "Grab the blue-capped plastic bottle, shake it properly, then set it down.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Use the right arm to grab the bottle with curved neck design and shake.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Shake the blue-capped plastic bottle after picking it with the right arm.",
+    "Pick and shake the the blue-capped plastic bottle with the right arm.",
+    "Use the right arm to pick the bottle with ridged neck.",
+    "Pick up the bottle with curved neck design with the right arm and shake.",
+    "Grab the bottle with ridged neck, shake it properly, then set it down.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Use the right arm to grab the bottle with ridged neck and shake.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Shake the bottle with curved neck design after picking it with the right arm.",
+    "Pick and shake the the bottle with ridged neck with the right arm.",
+    "Use the right arm to pick the bottle with curved neck design.",
+    "Pick up the blue-capped plastic bottle with the right arm and shake.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Use the right arm to grab the bottle with curved neck design and shake.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Grab the blue-capped plastic bottle and give it a shake.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Shake the blue-capped plastic bottle after picking it with the right arm.",
+    "Pick and shake the the blue-capped plastic bottle with the right arm.",
+    "Use the right arm to pick the blue-capped plastic bottle.",
+    "Pick up the bottle with curved neck design with the right arm and shake.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Use the right arm to grab the bottle with curved neck design and shake.",
+    "Grab the bottle with curved neck design and shake it.",
+    "Grab the blue-capped plastic bottle and give it a shake.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Shake the bottle with curved neck design after picking it with the right arm.",
+    "Pick and shake the the blue-capped plastic bottle with the right arm.",
+    "Use the right arm to pick the blue-capped plastic bottle.",
+    "Pick up the bottle with curved neck design with the right arm and shake.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Use the right arm to grab the bottle with curved neck design and shake.",
+    "Grab the bottle with curved neck design and shake it.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Shake the blue-capped plastic bottle after picking it with the right arm.",
+    "Pick and shake the the blue-capped plastic bottle with the right arm.",
+    "Use the right arm to pick the blue-capped plastic bottle.",
+    "Pick up the bottle with ridged neck with the right arm and shake.",
+    "Grab the blue-capped plastic bottle, shake it properly, then set it down.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Use the right arm to grab the bottle with curved neck design and shake.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Shake the bottle with curved neck design after picking it with the right arm."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001170.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the yellow bottle with a green design carefully and shake.",
+    "Shake the bottle with a smooth plastic body after grabbing it.",
+    "Grip the bottle with a smooth plastic body using the right arm and shake.",
+    "Grab the bottle with a smooth plastic body with the right arm and shake.",
+    "Hold and shake the the yellow plastic bottle with white top carefully.",
+    "Lift the bottle with white cap and shake it thoroughly.",
+    "Pick up the yellow container with rounded edges and shake it.",
+    "Lift the yellow bottle and shake it gently.",
+    "Grab the smooth bottle with rounded edges and shake it steadily.",
+    "Hold the yellow bottle and shake it properly.",
+    "Pick the bottle with a smooth plastic body, shake it with the right arm.",
+    "Pick the yellow bottle with a green design up with the right arm and shake.",
+    "Use the right arm to pick and shake the bottle with a smooth plastic body.",
+    "Secure the rectangular bottle with cylindrical neck and perform a shake.",
+    "Grab the yellow bottle with a green design using the right arm, then shake.",
+    "Shake the bottle with white cap after holding it firmly.",
+    "Secure the bottle with green and white labels, shake it, and place it down.",
+    "With the right arm, pick the smooth bottle with rounded edges and shake properly.",
+    "Pick the bottle with white cap up using the right arm and shake it.",
+    "Use the right arm to hold the bottle with white cap and shake it.",
+    "Pick up the yellow bottle and shake it well.",
+    "Hold the yellow container with rounded edges steady, then shake it.",
+    "Lift the yellow bottle with the right arm and shake it.",
+    "Grasp the smooth bottle with rounded edges with the right arm and shake it.",
+    "Lift the yellow bottle with a green design with the right arm and shake.",
+    "Grab the yellow bottle with a green design and move it to shake.",
+    "Take the rectangular bottle with cylindrical neck using the right arm and give it a shake.",
+    "Use the right arm to lift and shake the yellow bottle.",
+    "Grab the smooth bottle with rounded edges firmly, shake it, and put it down.",
+    "Lift up the yellow container with rounded edges using the right arm, then shake.",
+    "Shake the bottle with green and white labels after grabbing it.",
+    "Shake the yellow bottle with a green design using the right arm after grabbing.",
+    "Shake the yellow plastic bottle with white top after grabbing it.",
+    "Shake the bottle with green label thoroughly after grabbing it.",
+    "Grab the bottle with green label and give it a shake.",
+    "Utilize the right arm to hold the medium rectangular yellow bottle and shake it.",
+    "Grab and shake the bottle with white cap using the right arm.",
+    "Use the right arm to lift and shake the yellow container with rounded edges.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Hold the smooth bottle with rounded edges with the right arm and shake lightly.",
+    "Using the right arm, shake the yellow bottle with a green design and then place it back.",
+    "Shake the bottle with green label firmly after grabbing.",
+    "Lift the bottle with green and white labels with the right arm and give it a shake.",
+    "Use the right arm to grab the bottle with white cap and shake it.",
+    "Shake the the bottle with a smooth plastic body properly after lifting.",
+    "Catch the smooth bottle with rounded edges and shake it instantly.",
+    "Shake the medium rectangular yellow bottle after lifting it.",
+    "Hold the bottle with a smooth plastic body, shake it briefly.",
+    "Pick the rectangular bottle with cylindrical neck and perform shaking motion.",
+    "Use the right arm to grab the bottle with white cap and shake properly.",
+    "Grab the yellow container with rounded edges carefully and shake.",
+    "Shake the yellow container with rounded edges after grabbing it.",
+    "Grip the rectangular bottle with cylindrical neck using the right arm and shake.",
+    "Grab the bottle with white cap with the right arm and shake.",
+    "Hold and shake the the bottle with a smooth plastic body carefully.",
+    "Lift the yellow bottle and shake it thoroughly.",
+    "Pick up the bottle with a smooth plastic body and shake it.",
+    "Lift the yellow plastic bottle with white top and shake it gently.",
+    "Grab the rectangular bottle with cylindrical neck and shake it steadily.",
+    "Hold the rectangular bottle with cylindrical neck and shake it properly.",
+    "Pick the yellow bottle with a green design, shake it with the right arm.",
+    "Pick the bottle with a smooth plastic body up with the right arm and shake.",
+    "Use the right arm to pick and shake the plastic bottle.",
+    "Secure the bottle with a smooth plastic body and perform a shake.",
+    "Grab the smooth bottle with rounded edges using the right arm, then shake.",
+    "Shake the bottle with white cap after holding it firmly.",
+    "Secure the plastic bottle, shake it, and place it down.",
+    "With the right arm, pick the smooth bottle with rounded edges and shake properly.",
+    "Pick the medium rectangular yellow bottle up using the right arm and shake it.",
+    "Use the right arm to hold the bottle with green label and shake it.",
+    "Pick up the plastic bottle and shake it well.",
+    "Hold the yellow plastic bottle with white top steady, then shake it.",
+    "Lift the yellow container with rounded edges with the right arm and shake it.",
+    "Grasp the bottle with green and white labels with the right arm and shake it.",
+    "Lift the yellow container with rounded edges with the right arm and shake.",
+    "Grab the yellow bottle with a green design and move it to shake.",
+    "Take the rectangular bottle with cylindrical neck using the right arm and give it a shake.",
+    "Use the right arm to lift and shake the yellow bottle with a green design.",
+    "Grab the yellow bottle firmly, shake it, and put it down.",
+    "Lift up the bottle with green label using the right arm, then shake.",
+    "Shake the yellow container with rounded edges after grabbing it.",
+    "Shake the smooth bottle with rounded edges using the right arm after grabbing.",
+    "Shake the bottle with green label after grabbing it.",
+    "Shake the bottle with a smooth plastic body thoroughly after grabbing it.",
+    "Grab the bottle with a smooth plastic body and give it a shake.",
+    "Utilize the right arm to hold the plastic bottle and shake it.",
+    "Grab and shake the medium rectangular yellow bottle using the right arm.",
+    "Use the right arm to lift and shake the yellow bottle with a green design.",
+    "Use the right arm to lift and shake the yellow bottle with a green design.",
+    "Hold the yellow bottle with a green design with the right arm and shake lightly.",
+    "Using the right arm, shake the yellow bottle with a green design and then place it back.",
+    "Shake the rectangular bottle with cylindrical neck firmly after grabbing.",
+    "Lift the bottle with green and white labels with the right arm and give it a shake.",
+    "Use the right arm to grab the plastic bottle and shake it.",
+    "Shake the the yellow container with rounded edges properly after lifting.",
+    "Catch the plastic bottle and shake it instantly.",
+    "Shake the rectangular bottle with cylindrical neck after lifting it.",
+    "Hold the smooth bottle with rounded edges, shake it briefly.",
+    "Pick the yellow bottle and perform shaking motion.",
+    "Use the right arm to grab the bottle with white cap and shake properly."
+  ],
+  "unseen": [
+    "Pick and shake the the yellow rectangular bottle with the right arm.",
+    "Pick up the yellow rectangular bottle with the right arm and shake.",
+    "Shake the yellow rectangular bottle after picking it with the right arm.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the right arm to pick the yellow bottle for liquid storage.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Pick up the yellow bottle for liquid storage with the right arm and shake.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the right arm to pick the yellow bottle for liquid storage.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick and shake the the yellow bottle for liquid storage with the right arm.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick and shake the the yellow bottle for liquid storage with the right arm.",
+    "Pick up the yellow rectangular bottle with the right arm and shake.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the right arm to pick the hand-sized yellow plastic bottle.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Use the right arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick and shake the the yellow bottle for liquid storage with the right arm.",
+    "Pick up the yellow bottle for liquid storage with the right arm and shake.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Use the right arm to grab the yellow rectangular bottle and shake.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick and shake the the yellow rectangular bottle with the right arm.",
+    "Pick up the yellow bottle for liquid storage with the right arm and shake.",
+    "Shake the yellow rectangular bottle after picking it with the right arm.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the right arm to pick the hand-sized yellow plastic bottle.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Use the right arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Use the right arm to grab the yellow rectangular bottle and shake.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick and shake the the yellow rectangular bottle with the right arm.",
+    "Pick up the yellow rectangular bottle with the right arm and shake.",
+    "Shake the yellow bottle for liquid storage after picking it with the right arm.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick and shake the the yellow rectangular bottle with the right arm.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the right arm to pick the yellow bottle for liquid storage.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Use the right arm to grab the yellow rectangular bottle and shake.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick and shake the the yellow rectangular bottle with the right arm.",
+    "Pick up the yellow bottle for liquid storage with the right arm and shake.",
+    "Shake the yellow rectangular bottle after picking it with the right arm.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the right arm to pick the hand-sized yellow plastic bottle.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake.",
+    "Grab the hand-sized yellow plastic bottle and shake it."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001173.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the orange and white bottle with cap, shake it, and place it down.",
+    "Grab the cylindrical orange and white bottle and move it to shake.",
+    "Hold the drinking bottle with yellow label with the left arm and shake lightly.",
+    "Catch the yellow label bottle and shake it instantly.",
+    "Utilize the left arm to hold the bottle with orange cap and shake it.",
+    "Pick the drinking bottle with yellow label up using the left arm and shake it.",
+    "Use the left arm to hold the bottle with orange cap and shake it.",
+    "Use the left arm to pick and shake the yellow label bottle.",
+    "Grab and shake the cylindrical orange and white bottle using the left arm.",
+    "Grab the cylindrical orange and white bottle with the left arm and shake.",
+    "Grasp the orange and white bottle with cap with the left arm and shake it.",
+    "Shake the orange bottle firmly after grabbing.",
+    "Grab the medium orange bottle and shake it steadily.",
+    "Hold and shake the the medium orange bottle carefully.",
+    "Shake the yellow label bottle after grabbing it.",
+    "Use the left arm to grab the drinking bottle with yellow label and shake properly.",
+    "Using the left arm, shake the bottle with ribbed orange bottom and then place it back.",
+    "Lift the white and orange plastic bottle with the left arm and give it a shake.",
+    "Hold the orange bottle steady, then shake it.",
+    "Lift the yellow label bottle with the left arm and shake it.",
+    "Shake the white and orange plastic bottle after lifting it.",
+    "With the left arm, pick the plastic bottle and shake properly.",
+    "Hold the drinking bottle with yellow label and shake it properly.",
+    "Secure the bottle with orange cap and perform a shake.",
+    "Grab the smooth plastic bottle using the left arm, then shake.",
+    "Pick the white and orange plastic bottle, shake it with the left arm.",
+    "Grab the cylindrical orange and white bottle and give it a shake.",
+    "Lift the medium orange bottle with the left arm and shake.",
+    "Use the left arm to grab the medium bottle with orange lid and shake it.",
+    "Pick the medium orange bottle up with the left arm and shake.",
+    "Use the left arm to lift and shake the drinking bottle with yellow label.",
+    "Grip the bottle with ribbed orange bottom using the left arm and shake.",
+    "Shake the bottle with ribbed orange bottom thoroughly after grabbing it.",
+    "Take the smooth plastic bottle using the left arm and give it a shake.",
+    "Shake the yellow label bottle using the left arm after grabbing.",
+    "Shake the plastic bottle after grabbing it.",
+    "Shake the the bottle with ribbed orange bottom properly after lifting.",
+    "Pick up the cylindrical orange and white bottle and shake it well.",
+    "Lift the medium orange bottle and shake it gently.",
+    "Hold the yellow label bottle, shake it briefly.",
+    "Use the left arm to lift and shake the yellow label bottle.",
+    "Pick the cylindrical orange and white bottle and perform shaking motion.",
+    "Grab the orange bottle carefully and shake.",
+    "Lift up the white and orange plastic bottle using the left arm, then shake.",
+    "Pick up the medium bottle with orange lid and shake it.",
+    "Shake the smooth plastic bottle after holding it firmly.",
+    "Shake the white and orange plastic bottle after grabbing it.",
+    "Use the left arm to lift and shake the medium bottle with orange lid.",
+    "Lift the plastic bottle and shake it thoroughly.",
+    "Grab the bottle with ribbed orange bottom firmly, shake it, and put it down.",
+    "Secure the drinking bottle with yellow label, shake it, and place it down.",
+    "Grab the cylindrical orange and white bottle and move it to shake.",
+    "Hold the yellow label bottle with the left arm and shake lightly.",
+    "Catch the white and orange plastic bottle and shake it instantly.",
+    "Utilize the left arm to hold the cylindrical orange and white bottle and shake it.",
+    "Pick the medium orange bottle up using the left arm and shake it.",
+    "Use the left arm to hold the orange bottle and shake it.",
+    "Use the left arm to pick and shake the drinking bottle with yellow label.",
+    "Grab and shake the orange bottle using the left arm.",
+    "Grab the medium orange bottle with the left arm and shake.",
+    "Grasp the medium bottle with orange lid with the left arm and shake it.",
+    "Shake the orange and white bottle with cap firmly after grabbing.",
+    "Grab the plastic bottle and shake it steadily.",
+    "Hold and shake the the cylindrical orange and white bottle carefully.",
+    "Shake the smooth plastic bottle after grabbing it.",
+    "Use the left arm to grab the medium bottle with orange lid and shake properly.",
+    "Using the left arm, shake the cylindrical orange and white bottle and then place it back.",
+    "Lift the bottle with ribbed orange bottom with the left arm and give it a shake.",
+    "Hold the bottle with orange cap steady, then shake it.",
+    "Lift the white and orange plastic bottle with the left arm and shake it.",
+    "Shake the medium orange bottle after lifting it.",
+    "With the left arm, pick the cylindrical orange and white bottle and shake properly.",
+    "Hold the bottle with orange cap and shake it properly.",
+    "Secure the bottle with ribbed orange bottom and perform a shake.",
+    "Grab the medium orange bottle using the left arm, then shake.",
+    "Pick the orange and white bottle with cap, shake it with the left arm.",
+    "Grab the smooth plastic bottle and give it a shake.",
+    "Lift the plastic bottle with the left arm and shake.",
+    "Use the left arm to grab the bottle with ribbed orange bottom and shake it.",
+    "Pick the white and orange plastic bottle up with the left arm and shake.",
+    "Use the left arm to lift and shake the orange and white bottle with cap.",
+    "Grip the orange and white bottle with cap using the left arm and shake.",
+    "Shake the smooth plastic bottle thoroughly after grabbing it.",
+    "Take the orange bottle using the left arm and give it a shake.",
+    "Shake the orange bottle using the left arm after grabbing.",
+    "Shake the white and orange plastic bottle after grabbing it.",
+    "Shake the the drinking bottle with yellow label properly after lifting.",
+    "Pick up the medium bottle with orange lid and shake it well.",
+    "Lift the smooth plastic bottle and shake it gently.",
+    "Hold the orange bottle, shake it briefly.",
+    "Use the left arm to lift and shake the orange and white bottle with cap.",
+    "Pick the white and orange plastic bottle and perform shaking motion.",
+    "Grab the drinking bottle with yellow label carefully and shake.",
+    "Lift up the white and orange plastic bottle using the left arm, then shake.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Shake the drinking bottle with yellow label after holding it firmly.",
+    "Shake the smooth plastic bottle after grabbing it.",
+    "Use the left arm to lift and shake the yellow label bottle.",
+    "Lift the plastic bottle and shake it thoroughly.",
+    "Grab the drinking bottle with yellow label firmly, shake it, and put it down."
+  ],
+  "unseen": [
+    "Pick up the curvy orange bottle with white section with the left arm and shake.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Use the left arm to grab the curvy orange bottle with white section and shake.",
+    "Shake the curvy orange bottle with white section after picking it with the left arm.",
+    "Pick and shake the the bottle with yellow sticker label with the left arm.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Use the left arm to pick the bottle with curved body.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Pick up the bottle with curved body with the left arm and shake.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Use the left arm to grab the bottle with yellow sticker label and shake.",
+    "Shake the curvy orange bottle with white section after picking it with the left arm.",
+    "Pick and shake the the bottle with curved body with the left arm.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Use the left arm to pick the curvy orange bottle with white section.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with curved body and shake it.",
+    "Pick up the bottle with yellow sticker label with the left arm and shake.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Use the left arm to grab the curvy orange bottle with white section and shake.",
+    "Shake the curvy orange bottle with white section after picking it with the left arm.",
+    "Pick and shake the the bottle with yellow sticker label with the left arm.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Use the left arm to pick the curvy orange bottle with white section.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with curved body and shake it.",
+    "Pick up the curvy orange bottle with white section with the left arm and shake.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Use the left arm to grab the curvy orange bottle with white section and shake.",
+    "Shake the curvy orange bottle with white section after picking it with the left arm.",
+    "Pick and shake the the curvy orange bottle with white section with the left arm.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Use the left arm to pick the curvy orange bottle with white section.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Pick up the curvy orange bottle with white section with the left arm and shake.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Use the left arm to grab the curvy orange bottle with white section and shake.",
+    "Shake the curvy orange bottle with white section after picking it with the left arm.",
+    "Pick and shake the the bottle with curved body with the left arm.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Use the left arm to pick the curvy orange bottle with white section.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Pick up the bottle with yellow sticker label with the left arm and shake.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Use the left arm to grab the bottle with yellow sticker label and shake.",
+    "Shake the bottle with yellow sticker label after picking it with the left arm.",
+    "Pick and shake the the bottle with yellow sticker label with the left arm.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Use the left arm to pick the curvy orange bottle with white section.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with curved body and shake it.",
+    "Pick up the curvy orange bottle with white section with the left arm and shake.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Use the left arm to grab the bottle with curved body and shake.",
+    "Shake the bottle with curved body after picking it with the left arm.",
+    "Pick and shake the the curvy orange bottle with white section with the left arm.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Use the left arm to pick the bottle with yellow sticker label.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with curved body and shake it.",
+    "Pick up the bottle with yellow sticker label with the left arm and shake.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Use the left arm to grab the bottle with curved body and shake.",
+    "Shake the curvy orange bottle with white section after picking it with the left arm.",
+    "Pick and shake the the curvy orange bottle with white section with the left arm.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Use the left arm to pick the bottle with yellow sticker label.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Pick up the bottle with curved body with the left arm and shake.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Use the left arm to grab the bottle with yellow sticker label and shake.",
+    "Shake the curvy orange bottle with white section after picking it with the left arm.",
+    "Pick and shake the the bottle with yellow sticker label with the left arm.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Use the left arm to pick the bottle with yellow sticker label.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Pick up the bottle with curved body with the left arm and shake.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Use the left arm to grab the bottle with yellow sticker label and shake.",
+    "Shake the bottle with yellow sticker label after picking it with the left arm.",
+    "Pick and shake the the bottle with curved body with the left arm.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Use the left arm to pick the curvy orange bottle with white section.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with curved body and shake it."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001184.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the bottle for liquids and shake it gently.",
+    "Pick the cylindrical orange bottle with yellow top, shake it with the left arm.",
+    "Using the left arm, shake the yellow-capped plastic bottle and then place it back.",
+    "Grab the bottle for liquids carefully and shake.",
+    "Lift up the orange bottle using the left arm, then shake.",
+    "Use the left arm to lift and shake the smooth plastic bottle.",
+    "Hold and shake the the yellow-capped plastic bottle carefully.",
+    "Use the left arm to pick and shake the bottle with yellow cap.",
+    "Use the left arm to grab the yellow-capped plastic bottle and shake it.",
+    "Use the left arm to grab the plastic bottle with sealed yellow cap and shake properly.",
+    "Use the left arm to lift and shake the bottle with narrow neck.",
+    "Secure the bottle with yellow cap, shake it, and place it down.",
+    "Shake the the orange cylindrical bottle properly after lifting.",
+    "Grip the plastic bottle with sealed yellow cap using the left arm and shake.",
+    "Pick up the bottle with narrow neck and shake it well.",
+    "Lift the bottle with yellow cap and shake it thoroughly.",
+    "Grab the bottle for liquids and give it a shake.",
+    "Use the left arm to lift and shake the bottle for liquids.",
+    "Grab and shake the bottle with narrow neck using the left arm.",
+    "Shake the bottle for liquids after holding it firmly.",
+    "Lift the orange bottle with the left arm and give it a shake.",
+    "Hold the bottle with yellow cap and shake it properly.",
+    "Shake the orange bottle after grabbing it.",
+    "Shake the bottle for liquids using the left arm after grabbing.",
+    "Grasp the bottle with yellow cap with the left arm and shake it.",
+    "Shake the yellow-capped plastic bottle after grabbing it.",
+    "With the left arm, pick the bottle with printed label and shake properly.",
+    "Hold the bottle with printed label steady, then shake it.",
+    "Grab the orange bottle and move it to shake.",
+    "Utilize the left arm to hold the orange bottle and shake it.",
+    "Grab the bottle for liquids firmly, shake it, and put it down.",
+    "Shake the cylindrical orange bottle with yellow top firmly after grabbing.",
+    "Hold the yellow-capped plastic bottle, shake it briefly.",
+    "Pick the bottle with yellow cap and perform shaking motion.",
+    "Lift the orange cylindrical bottle with the left arm and shake it.",
+    "Catch the bottle with narrow neck and shake it instantly.",
+    "Shake the plastic bottle after lifting it.",
+    "Grab the plastic bottle with sealed yellow cap and shake it steadily.",
+    "Lift the bottle with narrow neck with the left arm and shake.",
+    "Shake the plastic bottle thoroughly after grabbing it.",
+    "Secure the plastic bottle with sealed yellow cap and perform a shake.",
+    "Shake the cylindrical orange bottle with yellow top after grabbing it.",
+    "Pick the orange bottle up with the left arm and shake.",
+    "Pick up the yellow-capped plastic bottle and shake it.",
+    "Pick the cylindrical orange bottle with yellow top up using the left arm and shake it.",
+    "Hold the smooth plastic bottle with the left arm and shake lightly.",
+    "Use the left arm to hold the orange bottle and shake it.",
+    "Take the orange bottle using the left arm and give it a shake.",
+    "Grab the bottle with printed label using the left arm, then shake.",
+    "Grab the plastic bottle with sealed yellow cap with the left arm and shake.",
+    "Lift the bottle with yellow cap and shake it gently.",
+    "Pick the bottle with yellow cap, shake it with the left arm.",
+    "Using the left arm, shake the orange cylindrical bottle and then place it back.",
+    "Grab the bottle with yellow cap carefully and shake.",
+    "Lift up the yellow-capped plastic bottle using the left arm, then shake.",
+    "Use the left arm to lift and shake the bottle with printed label.",
+    "Hold and shake the the yellow-capped plastic bottle carefully.",
+    "Use the left arm to pick and shake the medium-sized orange bottle.",
+    "Use the left arm to grab the cylindrical orange bottle with yellow top and shake it.",
+    "Use the left arm to grab the medium-sized orange bottle and shake properly.",
+    "Use the left arm to lift and shake the plastic bottle with sealed yellow cap.",
+    "Secure the orange bottle, shake it, and place it down.",
+    "Shake the the plastic bottle with sealed yellow cap properly after lifting.",
+    "Grip the medium-sized orange bottle using the left arm and shake.",
+    "Pick up the plastic bottle with sealed yellow cap and shake it well.",
+    "Lift the yellow-capped plastic bottle and shake it thoroughly.",
+    "Grab the bottle with yellow cap and give it a shake.",
+    "Use the left arm to lift and shake the bottle with yellow cap.",
+    "Grab and shake the yellow-capped plastic bottle using the left arm.",
+    "Shake the smooth plastic bottle after holding it firmly.",
+    "Lift the bottle for liquids with the left arm and give it a shake.",
+    "Hold the plastic bottle with sealed yellow cap and shake it properly.",
+    "Shake the yellow-capped plastic bottle after grabbing it.",
+    "Shake the plastic bottle using the left arm after grabbing.",
+    "Grasp the medium-sized orange bottle with the left arm and shake it.",
+    "Shake the yellow-capped plastic bottle after grabbing it.",
+    "With the left arm, pick the plastic bottle with sealed yellow cap and shake properly.",
+    "Hold the plastic bottle steady, then shake it.",
+    "Grab the smooth plastic bottle and move it to shake.",
+    "Utilize the left arm to hold the bottle for liquids and shake it.",
+    "Grab the bottle with narrow neck firmly, shake it, and put it down.",
+    "Shake the bottle with yellow cap firmly after grabbing.",
+    "Hold the yellow-capped plastic bottle, shake it briefly.",
+    "Pick the bottle for liquids and perform shaking motion.",
+    "Lift the smooth plastic bottle with the left arm and shake it.",
+    "Catch the medium-sized orange bottle and shake it instantly.",
+    "Shake the medium-sized orange bottle after lifting it.",
+    "Grab the orange bottle and shake it steadily.",
+    "Lift the cylindrical orange bottle with yellow top with the left arm and shake.",
+    "Shake the bottle with narrow neck thoroughly after grabbing it.",
+    "Secure the plastic bottle and perform a shake.",
+    "Shake the plastic bottle after grabbing it.",
+    "Pick the bottle with yellow cap up with the left arm and shake.",
+    "Pick up the bottle with narrow neck and shake it.",
+    "Pick the yellow-capped plastic bottle up using the left arm and shake it.",
+    "Hold the smooth plastic bottle with the left arm and shake lightly.",
+    "Use the left arm to hold the orange cylindrical bottle and shake it.",
+    "Take the yellow-capped plastic bottle using the left arm and give it a shake.",
+    "Grab the yellow-capped plastic bottle using the left arm, then shake.",
+    "Grab the plastic bottle with sealed yellow cap with the left arm and shake."
+  ],
+  "unseen": [
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "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.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Pick up 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 orange bottle with smooth texture.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "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.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Pick up 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 orange bottle with smooth texture.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "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.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the handheld orange bottle and shake it.",
+    "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.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Pick up 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.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Shake the orange bottle with smooth texture after picking it with the left 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.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Shake the label-covered orange bottle after picking it with the left 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.",
+    "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.",
+    "Grab the handheld orange bottle and shake it.",
+    "Pick up 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 orange bottle with smooth texture.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "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.",
+    "Grab the handheld orange bottle and shake it.",
+    "Pick up 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.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Shake the orange bottle with smooth texture after picking it with the left 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.",
+    "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.",
+    "Grab the handheld orange bottle and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "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.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Pick up the label-covered orange bottle with the left arm and shake."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001192.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Catch the bottle with blue and yellow print and shake it instantly.",
+    "Shake the black plastic bottle with Pepsi logo after lifting it.",
+    "Using the right arm, shake the bottle with blue and yellow print and then place it back.",
+    "Lift the bottle with blue and yellow print with the right arm and shake.",
+    "Lift the smooth black bottle with ridges with the right arm and shake it.",
+    "Lift the medium black bottle with printed label with the right arm and give it a shake.",
+    "Shake the black cylindrical bottle with ridges thoroughly after grabbing it.",
+    "Hold the black plastic bottle with Pepsi logo with the right arm and shake lightly.",
+    "Shake the yellow-capped cylindrical bottle after grabbing it.",
+    "Grab the beverage bottle with black body using the right arm, then shake.",
+    "Hold the plastic bottle with colorful label and shake it properly.",
+    "Lift the bottle with blue and yellow print and shake it gently.",
+    "Pick up the plastic bottle with colorful label and shake it.",
+    "Hold and shake the the black bottle carefully.",
+    "Shake the medium black bottle with printed label firmly after grabbing.",
+    "Grab the black bottle and shake it steadily.",
+    "Pick the plastic bottle with colorful label and perform shaking motion.",
+    "Secure the yellow capped drink bottle, shake it, and place it down.",
+    "Pick up the drink bottle with rounded yellow lid and shake it well.",
+    "Shake the bottle with blue and yellow print after grabbing it.",
+    "Hold the black plastic bottle with Pepsi logo steady, then shake it.",
+    "Pick the plastic bottle with colorful label up using the right arm and shake it.",
+    "Pick the black bottle up with the right arm and shake.",
+    "Grip the yellow-capped cylindrical bottle using the right arm and shake.",
+    "Use the right arm to lift and shake the black bottle.",
+    "Hold the black cylindrical bottle with ridges, shake it briefly.",
+    "Grab the drink bottle with rounded yellow lid with the right arm and shake.",
+    "Secure the smooth black bottle with ridges and perform a shake.",
+    "Shake the yellow-capped cylindrical bottle using the right arm after grabbing.",
+    "Use the right arm to grab the yellow-capped cylindrical bottle and shake properly.",
+    "Use the right arm to lift and shake the medium bottle with yellow cap.",
+    "Use the right arm to lift and shake the medium black bottle with printed label.",
+    "Use the right arm to hold the yellow-capped cylindrical bottle and shake it.",
+    "Grab the yellow capped drink bottle carefully and shake.",
+    "Utilize the right arm to hold the black bottle and shake it.",
+    "Shake the the yellow capped drink bottle properly after lifting.",
+    "Lift the black cylindrical bottle with ridges and shake it thoroughly.",
+    "Grab and shake the black bottle using the right arm.",
+    "Use the right arm to pick and shake the smooth black bottle with ridges.",
+    "Take the yellow-capped cylindrical bottle using the right arm and give it a shake.",
+    "Use the right arm to grab the black cylindrical bottle with ridges and shake it.",
+    "With the right arm, pick the medium black bottle with printed label and shake properly.",
+    "Shake the drink bottle with rounded yellow lid after holding it firmly.",
+    "Grab the bottle with blue and yellow print and move it to shake.",
+    "Lift up the medium black bottle with printed label using the right arm, then shake.",
+    "Pick the black cylindrical bottle with ridges, shake it with the right arm.",
+    "Grab the medium bottle with yellow cap and give it a shake.",
+    "Shake the yellow-capped cylindrical bottle after grabbing it.",
+    "Grab the yellow-capped cylindrical bottle firmly, shake it, and put it down.",
+    "Grasp the medium bottle with yellow cap with the right arm and shake it.",
+    "Catch the yellow capped drink bottle and shake it instantly.",
+    "Shake the yellow capped drink bottle after lifting it.",
+    "Using the right arm, shake the plastic bottle with colorful label and then place it back.",
+    "Lift the bottle with blue and yellow print with the right arm and shake.",
+    "Lift the beverage bottle with black body with the right arm and shake it.",
+    "Lift the black bottle with the right arm and give it a shake.",
+    "Shake the black cylindrical bottle with ridges thoroughly after grabbing it.",
+    "Hold the medium bottle with yellow cap with the right arm and shake lightly.",
+    "Shake the plastic bottle with colorful label after grabbing it.",
+    "Grab the black plastic bottle with Pepsi logo using the right arm, then shake.",
+    "Hold the black bottle and shake it properly.",
+    "Lift the smooth black bottle with ridges and shake it gently.",
+    "Pick up the black bottle and shake it.",
+    "Hold and shake the the medium black bottle with printed label carefully.",
+    "Shake the black plastic bottle with Pepsi logo firmly after grabbing.",
+    "Grab the smooth black bottle with ridges and shake it steadily.",
+    "Pick the black cylindrical bottle with ridges and perform shaking motion.",
+    "Secure the black cylindrical bottle with ridges, shake it, and place it down.",
+    "Pick up the smooth black bottle with ridges and shake it well.",
+    "Shake the black bottle after grabbing it.",
+    "Hold the black cylindrical bottle with ridges steady, then shake it.",
+    "Pick the medium bottle with yellow cap up using the right arm and shake it.",
+    "Pick the medium black bottle with printed label up with the right arm and shake.",
+    "Grip the black bottle using the right arm and shake.",
+    "Use the right arm to lift and shake the black cylindrical bottle with ridges.",
+    "Hold the medium black bottle with printed label, shake it briefly.",
+    "Grab the smooth black bottle with ridges with the right arm and shake.",
+    "Secure the medium black bottle with printed label and perform a shake.",
+    "Shake the black plastic bottle with Pepsi logo using the right arm after grabbing.",
+    "Use the right arm to grab the plastic bottle with colorful label and shake properly.",
+    "Use the right arm to lift and shake the bottle with blue and yellow print.",
+    "Use the right arm to lift and shake the medium black bottle with printed label.",
+    "Use the right arm to hold the drink bottle with rounded yellow lid and shake it.",
+    "Grab the medium black bottle with printed label carefully and shake.",
+    "Utilize the right arm to hold the medium black bottle with printed label and shake it.",
+    "Shake the the smooth black bottle with ridges properly after lifting.",
+    "Lift the bottle with blue and yellow print and shake it thoroughly.",
+    "Grab and shake the beverage bottle with black body using the right arm.",
+    "Use the right arm to pick and shake the yellow capped drink bottle.",
+    "Take the drink bottle with rounded yellow lid using the right arm and give it a shake.",
+    "Use the right arm to grab the black plastic bottle with Pepsi logo and shake it.",
+    "With the right arm, pick the plastic bottle with colorful label and shake properly.",
+    "Shake the yellow capped drink bottle after holding it firmly.",
+    "Grab the medium bottle with yellow cap and move it to shake.",
+    "Lift up the medium bottle with yellow cap using the right arm, then shake.",
+    "Pick the black plastic bottle with Pepsi logo, shake it with the right arm.",
+    "Grab the yellow capped drink bottle and give it a shake.",
+    "Shake the smooth black bottle with ridges after grabbing it.",
+    "Grab the drink bottle with rounded yellow lid firmly, shake it, and put it down.",
+    "Grasp the beverage bottle with black body with the right arm and shake it."
+  ],
+  "unseen": [
+    "Use the right arm to pick the bottle with ridges near base.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Use the right arm to grab the bottle with ridges near base and shake.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.",
+    "Pick and shake the the bottle with ridges near base with the right arm.",
+    "Shake the plastic bottle with blue label after picking it with the right arm.",
+    "Use the right arm to pick the plastic bottle with blue label.",
+    "Grab the bottle with ridges near base and shake it.",
+    "Use the right arm to grab the bottle with ridges near base and shake.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Pick up the plastic bottle with blue label with the right arm and shake.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.",
+    "Use the right arm to pick the plastic bottle with blue label.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.",
+    "Pick and shake the the plastic bottle with blue label with the right arm.",
+    "Shake the plastic bottle with blue label after picking it with the right arm.",
+    "Use the right arm to pick the hand-sized bottle with ridged bottom.",
+    "Grab the bottle with ridges near base and shake it.",
+    "Use the right arm to grab the bottle with ridges near base and shake.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Pick up the bottle with ridges near base with the right arm and shake.",
+    "Pick and shake the the bottle with ridges near base with the right arm.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.",
+    "Use the right arm to pick the bottle with ridges near base.",
+    "Grab the bottle with ridges near base and shake it.",
+    "Use the right arm to grab the bottle with ridges near base and shake.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Pick up the bottle with ridges near base with the right arm and shake.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.",
+    "Shake the bottle with ridges near base after picking it with the right arm.",
+    "Use the right arm to pick the plastic bottle with blue label.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Pick up the bottle with ridges near base with the right arm and shake.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.",
+    "Shake the plastic bottle with blue label after picking it with the right arm.",
+    "Use the right arm to pick the hand-sized bottle with ridged bottom.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Pick up the plastic bottle with blue label with the right arm and shake.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.",
+    "Use the right arm to pick the bottle with ridges near base.",
+    "Grab the bottle with ridges near base and shake it.",
+    "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Pick up the plastic bottle with blue label with the right arm and shake.",
+    "Pick and shake the the bottle with ridges near base with the right arm.",
+    "Shake the bottle with ridges near base after picking it with the right arm.",
+    "Use the right arm to pick the hand-sized bottle with ridged bottom.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Use the right arm to grab the plastic bottle with blue label and shake.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Pick up the bottle with ridges near base with the right arm and shake.",
+    "Pick and shake the the bottle with ridges near base with the right arm.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.",
+    "Use the right arm to pick the bottle with ridges near base.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Use the right arm to grab the bottle with ridges near base and shake.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Pick up the bottle with ridges near base with the right arm and shake.",
+    "Pick and shake the the bottle with ridges near base with the right arm.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the right arm."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001206.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the blue water bottle with textured lid using the right arm after grabbing.",
+    "Using the right arm, shake the plastic bottle with black top and then place it back.",
+    "Shake the the portable bottle for liquids properly after lifting.",
+    "Grip the light blue bottle with strap-loop using the right arm and shake.",
+    "Grab the light blue cylindrical bottle using the right arm, then shake.",
+    "Hold the blue bottle with the right arm and shake lightly.",
+    "Shake the light blue bottle with strap-loop after grabbing it.",
+    "Grasp the blue water bottle with textured lid with the right arm and shake it.",
+    "Use the right arm to lift and shake the cylindrical bottle with rounded edges.",
+    "Lift the plastic bottle with black top and shake it thoroughly.",
+    "Pick up the plastic bottle with black top and shake it.",
+    "Lift up the cylindrical bottle with rounded edges using the right arm, then shake.",
+    "Catch the rounded bottle with black lid and shake it instantly.",
+    "Shake the bottle with black textured cap firmly after grabbing.",
+    "Use the right arm to lift and shake the blue water bottle with textured lid.",
+    "Secure the rounded bottle with black lid and perform a shake.",
+    "Pick up the plastic bottle and shake it well.",
+    "Grab the light blue cylindrical bottle firmly, shake it, and put it down.",
+    "Pick the light blue bottle with smooth body and perform shaking motion.",
+    "Pick the bottle with black textured cap up with the right arm and shake.",
+    "Shake the portable bottle for liquids after holding it firmly.",
+    "Hold and shake the the rounded bottle with black lid carefully.",
+    "Use the right arm to grab the blue water bottle with textured lid and shake properly.",
+    "Shake the light blue bottle with strap-loop thoroughly after grabbing it.",
+    "Lift the light blue bottle with strap-loop with the right arm and shake.",
+    "Pick the medium water bottle, shake it with the right arm.",
+    "Lift the light blue bottle with strap-loop with the right arm and give it a shake.",
+    "Use the right arm to hold the blue water bottle with textured lid and shake it.",
+    "Hold the bottle with black textured cap and shake it properly.",
+    "Shake the bottle with black textured cap after grabbing it.",
+    "Grab and shake the plastic bottle using the right arm.",
+    "Grab the rounded bottle with black lid carefully and shake.",
+    "Use the right arm to lift and shake the light blue cylindrical bottle.",
+    "Pick the blue bottle up using the right arm and shake it.",
+    "Hold the light blue cylindrical bottle, shake it briefly.",
+    "Take the plastic bottle using the right arm and give it a shake.",
+    "Secure the light blue bottle with smooth body, shake it, and place it down.",
+    "Grab the plastic bottle with the right arm and shake.",
+    "Use the right arm to pick and shake the light blue cylindrical bottle.",
+    "Utilize the right arm to hold the cylindrical bottle with rounded edges and shake it.",
+    "Lift the portable bottle for liquids with the right arm and shake it.",
+    "Shake the cylindrical bottle with rounded edges after grabbing it.",
+    "Use the right arm to grab the portable bottle for liquids and shake it.",
+    "Hold the bottle with black textured cap steady, then shake it.",
+    "Lift the cylindrical bottle with rounded edges and shake it gently.",
+    "Grab the plastic bottle with black top and give it a shake.",
+    "Shake the light blue bottle with strap-loop after lifting it.",
+    "With the right arm, pick the blue bottle and shake properly.",
+    "Grab the portable bottle for liquids and shake it steadily.",
+    "Grab the bottle with black textured cap and move it to shake.",
+    "Shake the light blue bottle with smooth body using the right arm after grabbing.",
+    "Using the right arm, shake the light blue bottle with smooth body and then place it back.",
+    "Shake the the light blue cylindrical bottle properly after lifting.",
+    "Grip the blue bottle using the right arm and shake.",
+    "Grab the blue bottle using the right arm, then shake.",
+    "Hold the portable bottle for liquids with the right arm and shake lightly.",
+    "Shake the light blue bottle with strap-loop after grabbing it.",
+    "Grasp the bottle with black textured cap with the right arm and shake it.",
+    "Use the right arm to lift and shake the cylindrical bottle with rounded edges.",
+    "Lift the medium water bottle and shake it thoroughly.",
+    "Pick up the light blue cylindrical bottle and shake it.",
+    "Lift up the cylindrical bottle with rounded edges using the right arm, then shake.",
+    "Catch the light blue bottle with strap-loop and shake it instantly.",
+    "Shake the blue bottle firmly after grabbing.",
+    "Use the right arm to lift and shake the blue bottle.",
+    "Secure the rounded bottle with black lid and perform a shake.",
+    "Pick up the portable bottle for liquids and shake it well.",
+    "Grab the bottle with black textured cap firmly, shake it, and put it down.",
+    "Pick the rounded bottle with black lid and perform shaking motion.",
+    "Pick the plastic bottle up with the right arm and shake.",
+    "Shake the blue water bottle with textured lid after holding it firmly.",
+    "Hold and shake the the cylindrical bottle with rounded edges carefully.",
+    "Use the right arm to grab the blue bottle and shake properly.",
+    "Shake the blue water bottle with textured lid thoroughly after grabbing it.",
+    "Lift the bottle with black textured cap with the right arm and shake.",
+    "Pick the rounded bottle with black lid, shake it with the right arm.",
+    "Lift the light blue cylindrical bottle with the right arm and give it a shake.",
+    "Use the right arm to hold the light blue bottle with smooth body and shake it.",
+    "Hold the blue water bottle with textured lid and shake it properly.",
+    "Shake the cylindrical bottle with rounded edges after grabbing it.",
+    "Grab and shake the light blue bottle with smooth body using the right arm.",
+    "Grab the blue bottle carefully and shake.",
+    "Use the right arm to lift and shake the medium water bottle.",
+    "Pick the blue bottle up using the right arm and shake it.",
+    "Hold the medium water bottle, shake it briefly.",
+    "Take the bottle with black textured cap using the right arm and give it a shake.",
+    "Secure the bottle with black textured cap, shake it, and place it down.",
+    "Grab the plastic bottle with the right arm and shake.",
+    "Use the right arm to pick and shake the rounded bottle with black lid.",
+    "Utilize the right arm to hold the blue water bottle with textured lid and shake it.",
+    "Lift the light blue bottle with smooth body with the right arm and shake it.",
+    "Shake the light blue bottle with smooth body after grabbing it.",
+    "Use the right arm to grab the light blue cylindrical bottle and shake it.",
+    "Hold the light blue bottle with smooth body steady, then shake it.",
+    "Lift the plastic bottle with black top and shake it gently.",
+    "Grab the light blue bottle with strap-loop and give it a shake.",
+    "Shake the light blue cylindrical bottle after lifting it.",
+    "With the right arm, pick the plastic bottle with black top and shake properly.",
+    "Grab the bottle with black textured cap and shake it steadily.",
+    "Grab the plastic bottle with black top and move it to shake."
+  ],
+  "unseen": [
+    "Grab the smooth blue water bottle and shake it.",
+    "Pick up the cylindrical plastic bottle for carrying water and shake it.",
+    "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 right arm.",
+    "Grab the bottle with attached loop on cap and give it a shake.",
+    "Pick up the smooth blue water bottle with the right arm and shake.",
+    "Pick and shake the the smooth blue water bottle with the right arm.",
+    "Use the right arm to grab the bottle with attached loop on cap and shake.",
+    "Use the right arm to pick the bottle with attached loop on cap.",
+    "Grab the cylindrical plastic bottle for carrying water, shake it properly, then set it down.",
+    "Grab the smooth blue water bottle and shake it.",
+    "Pick up the cylindrical plastic bottle for carrying water and shake it.",
+    "Pick up the cylindrical plastic bottle for carrying water and shake it.",
+    "Shake the smooth blue water bottle after picking it with the right arm.",
+    "Grab the smooth blue water bottle and give it a shake.",
+    "Pick up the cylindrical plastic bottle for carrying water with the right arm and shake.",
+    "Pick and shake the the smooth blue water bottle with the right arm.",
+    "Use the right arm to grab the smooth blue water bottle and shake.",
+    "Use the right arm to pick the cylindrical plastic bottle for carrying water.",
+    "Grab the bottle with attached loop on cap, shake it properly, then set it down.",
+    "Grab the smooth blue water bottle and shake it.",
+    "Pick up the cylindrical plastic bottle for carrying water and shake it.",
+    "Pick up the smooth blue water bottle and shake it.",
+    "Shake the bottle with attached loop on cap after picking it with the right arm.",
+    "Grab the bottle with attached loop on cap and give it a shake.",
+    "Pick up the bottle with attached loop on cap with the right arm and shake.",
+    "Pick and shake the the bottle with attached loop on cap with the right arm.",
+    "Use the right arm to grab the cylindrical plastic bottle for carrying water and shake.",
+    "Use the right arm to pick the smooth blue water bottle.",
+    "Grab the smooth blue water bottle, shake it properly, then set it down.",
+    "Grab the bottle with attached loop on cap and shake it.",
+    "Pick up the bottle with attached loop on cap and shake it.",
+    "Pick up the smooth blue water bottle and shake it.",
+    "Shake the bottle with attached loop on cap after picking it with the right arm.",
+    "Grab the bottle with attached loop on cap and give it a shake.",
+    "Pick up the bottle with attached loop on cap with the right arm and shake.",
+    "Pick and shake the the cylindrical plastic bottle for carrying water with the right arm.",
+    "Use the right arm to grab the cylindrical plastic bottle for carrying water and shake.",
+    "Use the right arm to pick the cylindrical plastic bottle for carrying water.",
+    "Grab the cylindrical plastic bottle for carrying water, shake it properly, then set it down.",
+    "Grab the smooth blue water bottle and shake it.",
+    "Pick up the bottle with attached loop on cap and shake it.",
+    "Pick up the smooth blue water bottle and shake it.",
+    "Shake the smooth blue water bottle after picking it with the right arm.",
+    "Grab the bottle with attached loop on cap and give it a shake.",
+    "Pick up the bottle with attached loop on cap with the right arm and shake.",
+    "Pick and shake the the smooth blue water bottle with the right arm.",
+    "Use the right arm to grab the cylindrical plastic bottle for carrying water and shake.",
+    "Use the right arm to pick the bottle with attached loop on cap.",
+    "Grab the bottle with attached loop on cap, shake it properly, then set it down.",
+    "Grab the bottle with attached loop on cap and shake it.",
+    "Pick up the bottle with attached loop on cap and shake it.",
+    "Pick up the bottle with attached loop on cap and shake it.",
+    "Shake the cylindrical plastic bottle for carrying water after picking it with the right arm.",
+    "Grab the bottle with attached loop on cap and give it a shake.",
+    "Pick up the bottle with attached loop on cap with the right arm and shake.",
+    "Pick and shake the the bottle with attached loop on cap with the right arm.",
+    "Use the right arm to grab the bottle with attached loop on cap and shake.",
+    "Use the right arm to pick the smooth blue water bottle.",
+    "Grab the smooth blue water bottle, shake it properly, then set it down.",
+    "Grab the smooth blue water bottle and shake it.",
+    "Pick up the bottle with attached loop on cap and shake it.",
+    "Pick up the cylindrical plastic bottle for carrying water and shake it.",
+    "Shake the bottle with attached loop on cap after picking it with the right arm.",
+    "Grab the bottle with attached loop on cap and give it a shake.",
+    "Pick up the bottle with attached loop on cap with the right arm and shake.",
+    "Pick and shake the the smooth blue water bottle with the right arm.",
+    "Use the right arm to grab the smooth blue water bottle and shake.",
+    "Use the right arm to pick the smooth blue water bottle.",
+    "Grab the smooth blue water bottle, shake it properly, then set it down.",
+    "Grab the smooth blue water bottle and shake it.",
+    "Pick up the bottle with attached loop on cap and shake it.",
+    "Pick up the cylindrical plastic bottle for carrying water and shake it.",
+    "Shake the smooth blue water bottle after picking it with the right arm.",
+    "Grab the smooth blue water bottle and give it a shake.",
+    "Pick up the bottle with attached loop on cap with the right arm and shake.",
+    "Pick and shake the the bottle with attached loop on cap with the right arm.",
+    "Use the right arm to grab the smooth blue water bottle and shake.",
+    "Use the right arm to pick the smooth blue water bottle.",
+    "Grab the cylindrical plastic bottle for carrying water, shake it properly, then set it down.",
+    "Grab the cylindrical plastic bottle for carrying water and shake it.",
+    "Pick up the smooth blue water bottle and shake it.",
+    "Pick up the bottle with attached loop on cap and shake it.",
+    "Shake the cylindrical plastic bottle for carrying water after picking it with the right arm.",
+    "Grab the bottle with attached loop on cap and give it a shake.",
+    "Pick up the cylindrical plastic bottle for carrying water with the right arm and shake.",
+    "Pick and shake the the smooth blue water bottle with the right arm.",
+    "Use the right arm to grab the cylindrical plastic bottle for carrying water and shake.",
+    "Use the right arm to pick the smooth blue water bottle.",
+    "Grab the cylindrical plastic bottle for carrying water, shake it properly, then set it down.",
+    "Grab the bottle with attached loop on cap and shake it.",
+    "Pick up the smooth blue water bottle and shake it.",
+    "Pick up the bottle with attached loop on cap and shake it.",
+    "Shake the cylindrical plastic bottle for carrying water after picking it with the right arm.",
+    "Grab the bottle with attached loop on cap and give it a shake.",
+    "Pick up the smooth blue water bottle with the right arm and shake.",
+    "Pick and shake the the cylindrical plastic bottle for carrying water with the right arm.",
+    "Use the right arm to grab the bottle with attached loop on cap and shake.",
+    "Use the right arm to pick the smooth blue water bottle.",
+    "Grab the cylindrical plastic bottle for carrying water, shake it properly, then set it down."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001220.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the yellow label bottle and shake it.",
+    "Grab and shake the cylindrical orange and white bottle using the left arm.",
+    "Use the left arm to lift and shake the drinking bottle with yellow label.",
+    "Hold the orange and white bottle with cap and shake it properly.",
+    "Shake the the drinking bottle with yellow label properly after lifting.",
+    "Lift up the medium bottle with orange lid using the left arm, then shake.",
+    "Grab the orange and white bottle with cap and give it a shake.",
+    "Lift the drinking bottle with yellow label and shake it thoroughly.",
+    "Utilize the left arm to hold the orange bottle and shake it.",
+    "Pick the bottle with orange cap, shake it with the left arm.",
+    "Grab the medium orange bottle and move it to shake.",
+    "Hold and shake the the orange and white bottle with cap carefully.",
+    "Shake the smooth plastic bottle after grabbing it.",
+    "Use the left arm to lift and shake the cylindrical orange and white bottle.",
+    "Shake the medium orange bottle after lifting it.",
+    "Grab the orange bottle with the left arm and shake.",
+    "Grip the medium bottle with orange lid using the left arm and shake.",
+    "Pick up the cylindrical orange and white bottle and shake it well.",
+    "Lift the plastic bottle with the left arm and give it a shake.",
+    "Shake the medium orange bottle after grabbing it.",
+    "Use the left arm to lift and shake the smooth plastic bottle.",
+    "Grab the yellow label bottle using the left arm, then shake.",
+    "Shake the cylindrical orange and white bottle after holding it firmly.",
+    "Grasp the cylindrical orange and white bottle with the left arm and shake it.",
+    "Lift the drinking bottle with yellow label and shake it gently.",
+    "Secure the orange and white bottle with cap, shake it, and place it down.",
+    "Pick the bottle with orange cap and perform shaking motion.",
+    "Catch the drinking bottle with yellow label and shake it instantly.",
+    "Take the orange bottle using the left arm and give it a shake.",
+    "Use the left arm to pick and shake the drinking bottle with yellow label.",
+    "Grab the bottle with ribbed orange bottom firmly, shake it, and put it down.",
+    "Use the left arm to hold the medium orange bottle and shake it.",
+    "Using the left arm, shake the plastic bottle and then place it back.",
+    "Grab the medium bottle with orange lid and shake it steadily.",
+    "Hold the white and orange plastic bottle with the left arm and shake lightly.",
+    "Pick up the white and orange plastic bottle and shake it.",
+    "Shake the medium bottle with orange lid after grabbing it.",
+    "Lift the bottle with ribbed orange bottom with the left arm and shake.",
+    "Pick the plastic bottle up using the left arm and shake it.",
+    "Grab the bottle with ribbed orange bottom carefully and shake.",
+    "Hold the orange bottle steady, then shake it.",
+    "Hold the yellow label bottle, shake it briefly.",
+    "With the left arm, pick the smooth plastic bottle and shake properly.",
+    "Pick the orange and white bottle with cap up with the left arm and shake.",
+    "Shake the medium bottle with orange lid firmly after grabbing.",
+    "Use the left arm to grab the bottle with orange cap and shake properly.",
+    "Shake the cylindrical orange and white bottle using the left arm after grabbing.",
+    "Shake the medium orange bottle thoroughly after grabbing it.",
+    "Secure the orange bottle and perform a shake.",
+    "Lift the drinking bottle with yellow label with the left arm and shake it.",
+    "Use the left arm to grab the medium orange bottle and shake it.",
+    "Grab and shake the white and orange plastic bottle using the left arm.",
+    "Use the left arm to lift and shake the plastic bottle.",
+    "Hold the orange bottle and shake it properly.",
+    "Shake the the bottle with orange cap properly after lifting.",
+    "Lift up the medium orange bottle using the left arm, then shake.",
+    "Grab the medium bottle with orange lid and give it a shake.",
+    "Lift the smooth plastic bottle and shake it thoroughly.",
+    "Utilize the left arm to hold the white and orange plastic bottle and shake it.",
+    "Pick the orange and white bottle with cap, shake it with the left arm.",
+    "Grab the drinking bottle with yellow label and move it to shake.",
+    "Hold and shake the the cylindrical orange and white bottle carefully.",
+    "Shake the white and orange plastic bottle after grabbing it.",
+    "Use the left arm to lift and shake the yellow label bottle.",
+    "Shake the smooth plastic bottle after lifting it.",
+    "Grab the bottle with orange cap with the left arm and shake.",
+    "Grip the yellow label bottle using the left arm and shake.",
+    "Pick up the smooth plastic bottle and shake it well.",
+    "Lift the bottle with ribbed orange bottom with the left arm and give it a shake.",
+    "Shake the medium orange bottle after grabbing it.",
+    "Use the left arm to lift and shake the orange bottle.",
+    "Grab the medium orange bottle using the left arm, then shake.",
+    "Shake the cylindrical orange and white bottle after holding it firmly.",
+    "Grasp the white and orange plastic bottle with the left arm and shake it.",
+    "Lift the orange and white bottle with cap and shake it gently.",
+    "Secure the plastic bottle, shake it, and place it down.",
+    "Pick the bottle with ribbed orange bottom and perform shaking motion.",
+    "Catch the medium orange bottle and shake it instantly.",
+    "Take the plastic bottle using the left arm and give it a shake.",
+    "Use the left arm to pick and shake the yellow label bottle.",
+    "Grab the cylindrical orange and white bottle firmly, shake it, and put it down.",
+    "Use the left arm to hold the white and orange plastic bottle and shake it.",
+    "Using the left arm, shake the medium bottle with orange lid and then place it back.",
+    "Grab the cylindrical orange and white bottle and shake it steadily.",
+    "Hold the plastic bottle with the left arm and shake lightly.",
+    "Pick up the medium bottle with orange lid and shake it.",
+    "Shake the orange and white bottle with cap after grabbing it.",
+    "Lift the orange and white bottle with cap with the left arm and shake.",
+    "Pick the medium bottle with orange lid up using the left arm and shake it.",
+    "Grab the medium orange bottle carefully and shake.",
+    "Hold the orange bottle steady, then shake it.",
+    "Hold the medium orange bottle, shake it briefly.",
+    "With the left arm, pick the bottle with ribbed orange bottom and shake properly.",
+    "Pick the bottle with ribbed orange bottom up with the left arm and shake.",
+    "Shake the drinking bottle with yellow label firmly after grabbing.",
+    "Use the left arm to grab the orange and white bottle with cap and shake properly.",
+    "Shake the smooth plastic bottle using the left arm after grabbing.",
+    "Shake the bottle with ribbed orange bottom thoroughly after grabbing it.",
+    "Secure the drinking bottle with yellow label and perform a shake.",
+    "Lift the bottle with ribbed orange bottom with the left arm and shake it."
+  ],
+  "unseen": [
+    "Pick and shake the the bottle with yellow sticker label with the left arm.",
+    "Pick up the curvy orange bottle with white section with the left arm and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Use the left arm to pick the curvy orange bottle with white section.",
+    "Shake the bottle with curved body after picking it with the left arm.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Use the left arm to grab the curvy orange bottle with white section and shake.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick and shake the the bottle with yellow sticker label with the left arm.",
+    "Pick up the curvy orange bottle with white section with the left arm and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Use the left arm to pick the bottle with yellow sticker label.",
+    "Shake the bottle with yellow sticker label after picking it with the left arm.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Use the left arm to grab the bottle with yellow sticker label and shake.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Pick and shake the the bottle with yellow sticker label with the left arm.",
+    "Pick up the bottle with curved body with the left arm and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Use the left arm to pick the bottle with yellow sticker label.",
+    "Shake the bottle with curved body after picking it with the left arm.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Use the left arm to grab the curvy orange bottle with white section and shake.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick and shake the the bottle with curved body with the left arm.",
+    "Pick up the curvy orange bottle with white section with the left arm and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Use the left arm to pick the bottle with curved body.",
+    "Shake the curvy orange bottle with white section after picking it with the left arm.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Use the left arm to grab the curvy orange bottle with white section and shake.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick and shake the the bottle with curved body with the left arm.",
+    "Pick up the curvy orange bottle with white section with the left arm and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Use the left arm to pick the curvy orange bottle with white section.",
+    "Shake the curvy orange bottle with white section after picking it with the left arm.",
+    "Grab the bottle with curved body and shake it.",
+    "Use the left arm to grab the bottle with curved body and shake.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Pick and shake the the curvy orange bottle with white section with the left arm.",
+    "Pick up the bottle with curved body with the left arm and shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Use the left arm to pick the curvy orange bottle with white section.",
+    "Shake the bottle with curved body after picking it with the left arm.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Use the left arm to grab the curvy orange bottle with white section and shake.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick and shake the the curvy orange bottle with white section with the left arm.",
+    "Pick up the bottle with curved body with the left arm and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Use the left arm to pick the bottle with yellow sticker label.",
+    "Shake the curvy orange bottle with white section after picking it with the left arm.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Use the left arm to grab the bottle with curved body and shake.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick and shake the the bottle with curved body with the left arm.",
+    "Pick up the bottle with yellow sticker label with the left arm and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Use the left arm to pick the bottle with yellow sticker label.",
+    "Shake the bottle with yellow sticker label after picking it with the left arm.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Use the left arm to grab the bottle with curved body and shake.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick and shake the the curvy orange bottle with white section with the left arm.",
+    "Pick up the bottle with curved body with the left arm and shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Use the left arm to pick the curvy orange bottle with white section.",
+    "Shake the bottle with curved body after picking it with the left arm.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Use the left arm to grab the curvy orange bottle with white section and shake.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Pick and shake the the bottle with yellow sticker label with the left arm.",
+    "Pick up the curvy orange bottle with white section with the left arm and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Use the left arm to pick the bottle with curved body.",
+    "Shake the curvy orange bottle with white section after picking it with the left arm.",
+    "Grab the bottle with curved body and shake it.",
+    "Use the left arm to grab the curvy orange bottle with white section and shake.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001222.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to hold the yellow bottle and shake it.",
+    "Lift the yellow bottle with a green design with the right arm and shake.",
+    "Grab and shake the rectangular bottle with cylindrical neck using the right arm.",
+    "Use the right arm to grab the bottle with white cap and shake it.",
+    "Lift the bottle with white cap with the right arm and shake it.",
+    "Use the right arm to grab the plastic bottle and shake properly.",
+    "Lift the plastic bottle and shake it thoroughly.",
+    "Lift up the rectangular bottle with cylindrical neck using the right arm, then shake.",
+    "With the right arm, pick the bottle with green label and shake properly.",
+    "Lift the yellow container with rounded edges and shake it gently.",
+    "Secure the medium rectangular yellow bottle and perform a shake.",
+    "Catch the yellow bottle with a green design and shake it instantly.",
+    "Grab the bottle with a smooth plastic body firmly, shake it, and put it down.",
+    "Grab the rectangular bottle with cylindrical neck and move it to shake.",
+    "Pick up the smooth bottle with rounded edges and shake it.",
+    "Use the right arm to lift and shake the rectangular bottle with cylindrical neck.",
+    "Grab the bottle with green and white labels with the right arm and shake.",
+    "Shake the bottle with white cap using the right arm after grabbing.",
+    "Shake the rectangular bottle with cylindrical neck thoroughly after grabbing it.",
+    "Shake the rectangular bottle with cylindrical neck firmly after grabbing.",
+    "Pick the yellow container with rounded edges up using the right arm and shake it.",
+    "Hold the yellow container with rounded edges, shake it briefly.",
+    "Pick the bottle with white cap, shake it with the right arm.",
+    "Utilize the right arm to hold the yellow container with rounded edges and shake it.",
+    "Pick up the plastic bottle and shake it well.",
+    "Shake the rectangular bottle with cylindrical neck after holding it firmly.",
+    "Grab the yellow plastic bottle with white top and give it a shake.",
+    "Grasp the yellow bottle with the right arm and shake it.",
+    "Shake the yellow container with rounded edges after grabbing it.",
+    "Hold the bottle with white cap steady, then shake it.",
+    "Shake the yellow plastic bottle with white top after lifting it.",
+    "Shake the bottle with green and white labels after grabbing it.",
+    "Grip the yellow container with rounded edges using the right arm and shake.",
+    "Secure the bottle with white cap, shake it, and place it down.",
+    "Grab the yellow bottle using the right arm, then shake.",
+    "Shake the the yellow bottle with a green design properly after lifting.",
+    "Hold and shake the the smooth bottle with rounded edges carefully.",
+    "Pick the bottle with a smooth plastic body up with the right arm and shake.",
+    "Lift the yellow bottle with the right arm and give it a shake.",
+    "Shake the smooth bottle with rounded edges after grabbing it.",
+    "Use the right arm to pick and shake the bottle with white cap.",
+    "Use the right arm to lift and shake the bottle with green label.",
+    "Hold the medium rectangular yellow bottle and shake it properly.",
+    "Take the plastic bottle using the right arm and give it a shake.",
+    "Pick the yellow bottle and perform shaking motion.",
+    "Hold the yellow container with rounded edges with the right arm and shake lightly.",
+    "Grab the bottle with green label and shake it steadily.",
+    "Using the right arm, shake the yellow bottle and then place it back.",
+    "Use the right arm to lift and shake the yellow bottle.",
+    "Grab the yellow bottle carefully and shake.",
+    "Use the right arm to hold the bottle with white cap and shake it.",
+    "Lift the yellow container with rounded edges with the right arm and shake.",
+    "Grab and shake the yellow container with rounded edges using the right arm.",
+    "Use the right arm to grab the yellow bottle and shake it.",
+    "Lift the medium rectangular yellow bottle with the right arm and shake it.",
+    "Use the right arm to grab the rectangular bottle with cylindrical neck and shake properly.",
+    "Lift the plastic bottle and shake it thoroughly.",
+    "Lift up the bottle with a smooth plastic body using the right arm, then shake.",
+    "With the right arm, pick the bottle with a smooth plastic body and shake properly.",
+    "Lift the bottle with green label and shake it gently.",
+    "Secure the medium rectangular yellow bottle and perform a shake.",
+    "Catch the bottle with a smooth plastic body and shake it instantly.",
+    "Grab the smooth bottle with rounded edges firmly, shake it, and put it down.",
+    "Grab the bottle with white cap and move it to shake.",
+    "Pick up the bottle with green label and shake it.",
+    "Use the right arm to lift and shake the rectangular bottle with cylindrical neck.",
+    "Grab the bottle with a smooth plastic body with the right arm and shake.",
+    "Shake the smooth bottle with rounded edges using the right arm after grabbing.",
+    "Shake the rectangular bottle with cylindrical neck thoroughly after grabbing it.",
+    "Shake the yellow bottle firmly after grabbing.",
+    "Pick the smooth bottle with rounded edges up using the right arm and shake it.",
+    "Hold the yellow bottle with a green design, shake it briefly.",
+    "Pick the yellow bottle with a green design, shake it with the right arm.",
+    "Utilize the right arm to hold the rectangular bottle with cylindrical neck and shake it.",
+    "Pick up the smooth bottle with rounded edges and shake it well.",
+    "Shake the yellow plastic bottle with white top after holding it firmly.",
+    "Grab the bottle with green and white labels and give it a shake.",
+    "Grasp the medium rectangular yellow bottle with the right arm and shake it.",
+    "Shake the yellow bottle with a green design after grabbing it.",
+    "Hold the bottle with green and white labels steady, then shake it.",
+    "Shake the bottle with a smooth plastic body after lifting it.",
+    "Shake the medium rectangular yellow bottle after grabbing it.",
+    "Grip the yellow container with rounded edges using the right arm and shake.",
+    "Secure the bottle with white cap, shake it, and place it down.",
+    "Grab the yellow plastic bottle with white top using the right arm, then shake.",
+    "Shake the the rectangular bottle with cylindrical neck properly after lifting.",
+    "Hold and shake the the yellow bottle with a green design carefully.",
+    "Pick the yellow container with rounded edges up with the right arm and shake.",
+    "Lift the bottle with green and white labels with the right arm and give it a shake.",
+    "Shake the bottle with green and white labels after grabbing it.",
+    "Use the right arm to pick and shake the smooth bottle with rounded edges.",
+    "Use the right arm to lift and shake the yellow container with rounded edges.",
+    "Hold the medium rectangular yellow bottle and shake it properly.",
+    "Take the bottle with green label using the right arm and give it a shake.",
+    "Pick the plastic bottle and perform shaking motion.",
+    "Hold the yellow bottle with a green design with the right arm and shake lightly.",
+    "Grab the rectangular bottle with cylindrical neck and shake it steadily.",
+    "Using the right arm, shake the bottle with white cap and then place it back.",
+    "Use the right arm to lift and shake the bottle with a smooth plastic body.",
+    "Grab the plastic bottle carefully and shake."
+  ],
+  "unseen": [
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake.",
+    "Pick up the yellow rectangular bottle with the right arm and shake.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Pick and shake the the yellow bottle for liquid storage with the right arm.",
+    "Use the right arm to pick the yellow bottle for liquid storage.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Use the right arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Shake the yellow bottle for liquid storage after picking it with the right arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Use the right arm to grab the yellow rectangular bottle and shake.",
+    "Pick up the yellow bottle for liquid storage with the right arm and shake.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Shake the yellow rectangular bottle after picking it with the right arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Pick and shake the the yellow bottle for liquid storage with the right arm.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Use the right arm to grab the yellow rectangular bottle and shake.",
+    "Pick up the yellow bottle for liquid storage with the right arm and shake.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Shake the yellow bottle for liquid storage after picking it with the right arm.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Use the right arm to pick the hand-sized yellow plastic bottle.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Use the right arm to grab the yellow rectangular bottle and shake.",
+    "Pick up the yellow rectangular bottle with the right arm and shake.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Shake the yellow bottle for liquid storage after picking it with the right arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Use the right arm to pick the hand-sized yellow plastic bottle.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Use the right arm to grab the yellow rectangular bottle and shake.",
+    "Pick up the yellow bottle for liquid storage with the right arm and shake.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Shake the yellow rectangular bottle after picking it with the right arm.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Use the right arm to pick the hand-sized yellow plastic bottle.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake.",
+    "Pick up the yellow bottle for liquid storage with the right arm and shake.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Pick and shake the the yellow rectangular bottle with the right arm.",
+    "Use the right arm to pick the hand-sized yellow plastic bottle.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Use the right arm to grab the yellow rectangular bottle and shake.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake.",
+    "Pick up the yellow bottle for liquid storage with the right arm and shake.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Shake the yellow bottle for liquid storage after picking it with the right arm.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Pick and shake the the yellow bottle for liquid storage with the right arm.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Use the right arm to grab the yellow rectangular bottle and shake.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Shake the yellow rectangular bottle after picking it with the right arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Use the right arm to pick the hand-sized yellow plastic bottle."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001241.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the bottle for liquids and shake it steadily.",
+    "Use the right arm to lift and shake the bottle with yellow cap.",
+    "Use the right arm to hold the medium-sized orange bottle and shake it.",
+    "Grab the bottle with yellow cap using the right arm, then shake.",
+    "Shake the bottle with yellow cap firmly after grabbing.",
+    "Take the plastic bottle using the right arm and give it a shake.",
+    "Hold the bottle with narrow neck steady, then shake it.",
+    "Use the right arm to lift and shake the smooth plastic bottle.",
+    "Pick the bottle for liquids and perform shaking motion.",
+    "Using the right arm, shake the bottle with yellow cap and then place it back.",
+    "Pick the bottle with narrow neck, shake it with the right arm.",
+    "Hold the cylindrical orange bottle with yellow top with the right arm and shake lightly.",
+    "Lift up the bottle with narrow neck using the right arm, then shake.",
+    "Shake the medium-sized orange bottle after grabbing it.",
+    "Shake the bottle with yellow cap thoroughly after grabbing it.",
+    "With the right arm, pick the orange bottle and shake properly.",
+    "Pick up the cylindrical orange bottle with yellow top and shake it.",
+    "Lift the bottle for liquids with the right arm and shake.",
+    "Utilize the right arm to hold the bottle with printed label and shake it.",
+    "Catch the bottle with narrow neck and shake it instantly.",
+    "Shake the bottle with yellow cap after grabbing it.",
+    "Grab the medium-sized orange bottle and move it to shake.",
+    "Lift the orange cylindrical bottle and shake it gently.",
+    "Shake the cylindrical orange bottle with yellow top after lifting it.",
+    "Grab and shake the yellow-capped plastic bottle using the right arm.",
+    "Grab the bottle with narrow neck firmly, shake it, and put it down.",
+    "Lift the plastic bottle with the right arm and shake it.",
+    "Shake the yellow-capped plastic bottle after holding it firmly.",
+    "Grab the plastic bottle with sealed yellow cap and give it a shake.",
+    "Hold and shake the the bottle with narrow neck carefully.",
+    "Lift the bottle with yellow cap with the right arm and give it a shake.",
+    "Grab the plastic bottle with sealed yellow cap carefully and shake.",
+    "Grab the medium-sized orange bottle with the right arm and shake.",
+    "Grip the bottle with printed label using the right arm and shake.",
+    "Pick the orange cylindrical bottle up with the right arm and shake.",
+    "Hold the cylindrical orange bottle with yellow top, shake it briefly.",
+    "Use the right arm to grab the bottle with yellow cap and shake it.",
+    "Shake the bottle with yellow cap after grabbing it.",
+    "Shake the orange bottle using the right arm after grabbing.",
+    "Secure the medium-sized orange bottle and perform a shake.",
+    "Use the right arm to lift and shake the plastic bottle with sealed yellow cap.",
+    "Hold the medium-sized orange bottle and shake it properly.",
+    "Shake the the orange cylindrical bottle properly after lifting.",
+    "Use the right arm to pick and shake the smooth plastic bottle.",
+    "Pick the orange bottle up using the right arm and shake it.",
+    "Use the right arm to grab the plastic bottle with sealed yellow cap and shake properly.",
+    "Grasp the bottle with narrow neck with the right arm and shake it.",
+    "Lift the orange bottle and shake it thoroughly.",
+    "Pick up the bottle with yellow cap and shake it well.",
+    "Secure the yellow-capped plastic bottle, shake it, and place it down.",
+    "Grab the cylindrical orange bottle with yellow top and shake it steadily.",
+    "Use the right arm to lift and shake the cylindrical orange bottle with yellow top.",
+    "Use the right arm to hold the bottle with narrow neck and shake it.",
+    "Grab the yellow-capped plastic bottle using the right arm, then shake.",
+    "Shake the plastic bottle firmly after grabbing.",
+    "Take the bottle with narrow neck using the right arm and give it a shake.",
+    "Hold the cylindrical orange bottle with yellow top steady, then shake it.",
+    "Use the right arm to lift and shake the bottle with yellow cap.",
+    "Pick the cylindrical orange bottle with yellow top and perform shaking motion.",
+    "Using the right arm, shake the medium-sized orange bottle and then place it back.",
+    "Pick the cylindrical orange bottle with yellow top, shake it with the right arm.",
+    "Hold the bottle with printed label with the right arm and shake lightly.",
+    "Lift up the smooth plastic bottle using the right arm, then shake.",
+    "Shake the bottle with yellow cap after grabbing it.",
+    "Shake the plastic bottle with sealed yellow cap thoroughly after grabbing it.",
+    "With the right arm, pick the orange cylindrical bottle and shake properly.",
+    "Pick up the plastic bottle and shake it.",
+    "Lift the cylindrical orange bottle with yellow top with the right arm and shake.",
+    "Utilize the right arm to hold the cylindrical orange bottle with yellow top and shake it.",
+    "Catch the smooth plastic bottle and shake it instantly.",
+    "Shake the cylindrical orange bottle with yellow top after grabbing it.",
+    "Grab the yellow-capped plastic bottle and move it to shake.",
+    "Lift the cylindrical orange bottle with yellow top and shake it gently.",
+    "Shake the orange cylindrical bottle after lifting it.",
+    "Grab and shake the bottle with narrow neck using the right arm.",
+    "Grab the bottle with narrow neck firmly, shake it, and put it down.",
+    "Lift the bottle with yellow cap with the right arm and shake it.",
+    "Shake the orange bottle after holding it firmly.",
+    "Grab the cylindrical orange bottle with yellow top and give it a shake.",
+    "Hold and shake the the orange cylindrical bottle carefully.",
+    "Lift the bottle with narrow neck with the right arm and give it a shake.",
+    "Grab the yellow-capped plastic bottle carefully and shake.",
+    "Grab the cylindrical orange bottle with yellow top with the right arm and shake.",
+    "Grip the orange cylindrical bottle using the right arm and shake.",
+    "Pick the orange cylindrical bottle up with the right arm and shake.",
+    "Hold the bottle for liquids, shake it briefly.",
+    "Use the right arm to grab the orange cylindrical bottle and shake it.",
+    "Shake the plastic bottle with sealed yellow cap after grabbing it.",
+    "Shake the orange cylindrical bottle using the right arm after grabbing.",
+    "Secure the orange cylindrical bottle and perform a shake.",
+    "Use the right arm to lift and shake the orange bottle.",
+    "Hold the cylindrical orange bottle with yellow top and shake it properly.",
+    "Shake the the cylindrical orange bottle with yellow top properly after lifting.",
+    "Use the right arm to pick and shake the medium-sized orange bottle.",
+    "Pick the yellow-capped plastic bottle up using the right arm and shake it.",
+    "Use the right arm to grab the medium-sized orange bottle and shake properly.",
+    "Grasp the cylindrical orange bottle with yellow top with the right arm and shake it.",
+    "Lift the yellow-capped plastic bottle and shake it thoroughly.",
+    "Pick up the medium-sized orange bottle and shake it well.",
+    "Secure the smooth plastic bottle, shake it, and place it down."
+  ],
+  "unseen": [
+    "Pick up the label-covered orange bottle with the right arm and shake.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Use the right arm to grab the label-covered orange bottle and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Shake the label-covered orange bottle after picking it with the right arm.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Use the right arm to pick the orange bottle with smooth texture.",
+    "Grab the handheld orange bottle and shake it.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Use the right arm to grab the label-covered orange bottle and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick and shake the the label-covered orange bottle with the right arm.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Grab the handheld orange bottle and shake it.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Use the right arm to grab the handheld orange bottle and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick and shake the the label-covered orange bottle with the right arm.",
+    "Use the right arm to pick the orange bottle with smooth texture.",
+    "Grab the handheld orange bottle and shake it.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the label-covered orange bottle and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Shake the label-covered orange bottle after picking it with the right arm.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick and shake the the label-covered orange bottle with the right arm.",
+    "Use the right arm to pick the orange bottle with smooth texture.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Use the right arm to grab the label-covered orange bottle and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the label-covered orange bottle and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Shake the label-covered orange bottle after picking it with the right arm.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Pick and shake the the label-covered orange bottle with the right arm.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Use the right arm to grab the handheld orange bottle and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Shake the orange bottle with smooth texture after picking it with the right arm.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick and shake the the orange bottle with smooth texture with the right arm.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the orange bottle with smooth texture and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the label-covered orange bottle with the right arm and shake.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the handheld orange bottle and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Shake the orange bottle with smooth texture after picking it with the right arm.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick and shake the the orange bottle with smooth texture with the right arm.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the orange bottle with smooth texture and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Shake the label-covered orange bottle after picking it with the right arm.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick and shake the the orange bottle with smooth texture with the right arm.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Grab the handheld orange bottle and shake it.",
+    "Pick up the label-covered orange bottle and shake it."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001262.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the cylindrical orange bottle with yellow top and shake it well.",
+    "Use the right arm to lift and shake the orange bottle.",
+    "Use the right arm to lift and shake the cylindrical orange bottle with yellow top.",
+    "Grasp the medium-sized orange bottle with the right arm and shake it.",
+    "Lift the yellow-capped plastic bottle and shake it thoroughly.",
+    "Hold the medium-sized orange bottle with the right arm and shake lightly.",
+    "Use the right arm to grab the plastic bottle with sealed yellow cap and shake properly.",
+    "Grab the orange bottle and shake it steadily.",
+    "Shake the cylindrical orange bottle with yellow top after grabbing it.",
+    "Grab the medium-sized orange bottle using the right arm, then shake.",
+    "Use the right arm to hold the bottle with yellow cap and shake it.",
+    "Pick up the orange cylindrical bottle and shake it.",
+    "Use the right arm to grab the bottle with printed label and shake it.",
+    "Take the bottle with yellow cap using the right arm and give it a shake.",
+    "Grab the yellow-capped plastic bottle carefully and shake.",
+    "Lift the smooth plastic bottle with the right arm and shake it.",
+    "Pick the plastic bottle, shake it with the right arm.",
+    "Use the right arm to pick and shake the smooth plastic bottle.",
+    "Shake the the cylindrical orange bottle with yellow top properly after lifting.",
+    "With the right arm, pick the medium-sized orange bottle and shake properly.",
+    "Hold the orange cylindrical bottle, shake it briefly.",
+    "Catch the orange bottle and shake it instantly.",
+    "Secure the bottle with printed label and perform a shake.",
+    "Pick the bottle with yellow cap and perform shaking motion.",
+    "Utilize the right arm to hold the plastic bottle with sealed yellow cap and shake it.",
+    "Shake the yellow-capped plastic bottle after grabbing it.",
+    "Grab the bottle for liquids and move it to shake.",
+    "Shake the plastic bottle after lifting it.",
+    "Grab the plastic bottle with the right arm and shake.",
+    "Secure the bottle with yellow cap, shake it, and place it down.",
+    "Lift up the cylindrical orange bottle with yellow top using the right arm, then shake.",
+    "Lift the bottle with printed label with the right arm and shake.",
+    "Shake the cylindrical orange bottle with yellow top after grabbing it.",
+    "Pick the smooth plastic bottle up using the right arm and shake it.",
+    "Lift the bottle with yellow cap and shake it gently.",
+    "Hold and shake the the plastic bottle carefully.",
+    "Use the right arm to lift and shake the bottle with printed label.",
+    "Pick the cylindrical orange bottle with yellow top up with the right arm and shake.",
+    "Grab and shake the smooth plastic bottle using the right arm.",
+    "Hold the plastic bottle with sealed yellow cap and shake it properly.",
+    "Using the right arm, shake the smooth plastic bottle and then place it back.",
+    "Grab the yellow-capped plastic bottle and give it a shake.",
+    "Grip the cylindrical orange bottle with yellow top using the right arm and shake.",
+    "Hold the yellow-capped plastic bottle steady, then shake it.",
+    "Shake the cylindrical orange bottle with yellow top after holding it firmly.",
+    "Shake the medium-sized orange bottle firmly after grabbing.",
+    "Shake the bottle with yellow cap using the right arm after grabbing.",
+    "Lift the bottle with narrow neck with the right arm and give it a shake.",
+    "Grab the smooth plastic bottle firmly, shake it, and put it down.",
+    "Shake the bottle with printed label thoroughly after grabbing it.",
+    "Pick up the bottle with printed label and shake it well.",
+    "Use the right arm to lift and shake the cylindrical orange bottle with yellow top.",
+    "Use the right arm to lift and shake the yellow-capped plastic bottle.",
+    "Grasp the bottle for liquids with the right arm and shake it.",
+    "Lift the plastic bottle with sealed yellow cap and shake it thoroughly.",
+    "Hold the plastic bottle with the right arm and shake lightly.",
+    "Use the right arm to grab the orange cylindrical bottle and shake properly.",
+    "Grab the bottle with printed label and shake it steadily.",
+    "Shake the smooth plastic bottle after grabbing it.",
+    "Grab the orange bottle using the right arm, then shake.",
+    "Use the right arm to hold the medium-sized orange bottle and shake it.",
+    "Pick up the bottle with printed label and shake it.",
+    "Use the right arm to grab the plastic bottle and shake it.",
+    "Take the orange cylindrical bottle using the right arm and give it a shake.",
+    "Grab the cylindrical orange bottle with yellow top carefully and shake.",
+    "Lift the bottle with narrow neck with the right arm and shake it.",
+    "Pick the bottle with yellow cap, shake it with the right arm.",
+    "Use the right arm to pick and shake the plastic bottle.",
+    "Shake the the orange bottle properly after lifting.",
+    "With the right arm, pick the plastic bottle with sealed yellow cap and shake properly.",
+    "Hold the orange bottle, shake it briefly.",
+    "Catch the yellow-capped plastic bottle and shake it instantly.",
+    "Secure the cylindrical orange bottle with yellow top and perform a shake.",
+    "Pick the yellow-capped plastic bottle and perform shaking motion.",
+    "Utilize the right arm to hold the plastic bottle and shake it.",
+    "Shake the bottle for liquids after grabbing it.",
+    "Grab the bottle with yellow cap and move it to shake.",
+    "Shake the medium-sized orange bottle after lifting it.",
+    "Grab the yellow-capped plastic bottle with the right arm and shake.",
+    "Secure the bottle with printed label, shake it, and place it down.",
+    "Lift up the cylindrical orange bottle with yellow top using the right arm, then shake.",
+    "Lift the bottle for liquids with the right arm and shake.",
+    "Shake the plastic bottle after grabbing it.",
+    "Pick the bottle with printed label up using the right arm and shake it.",
+    "Lift the medium-sized orange bottle and shake it gently.",
+    "Hold and shake the the bottle for liquids carefully.",
+    "Use the right arm to lift and shake the smooth plastic bottle.",
+    "Pick the orange bottle up with the right arm and shake.",
+    "Grab and shake the bottle with printed label using the right arm.",
+    "Hold the orange cylindrical bottle and shake it properly.",
+    "Using the right arm, shake the bottle for liquids and then place it back.",
+    "Grab the smooth plastic bottle and give it a shake.",
+    "Grip the smooth plastic bottle using the right arm and shake.",
+    "Hold the plastic bottle with sealed yellow cap steady, then shake it.",
+    "Shake the orange cylindrical bottle after holding it firmly.",
+    "Shake the bottle with yellow cap firmly after grabbing.",
+    "Shake the bottle for liquids using the right arm after grabbing.",
+    "Lift the plastic bottle with the right arm and give it a shake.",
+    "Grab the cylindrical orange bottle with yellow top firmly, shake it, and put it down.",
+    "Shake the bottle for liquids thoroughly after grabbing it."
+  ],
+  "unseen": [
+    "Pick up the handheld orange bottle with the right arm and 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 orange bottle with smooth texture with the right arm.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the orange bottle with smooth texture and shake.",
+    "Shake the label-covered orange bottle after picking it with the right arm.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Pick up the orange bottle with smooth texture with the right arm and 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 label-covered orange bottle with the right arm.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the label-covered orange bottle and shake.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up 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 and shake it.",
+    "Use the right arm to pick the orange bottle with smooth texture.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the handheld orange bottle and shake.",
+    "Shake the orange bottle with smooth texture after picking it with the right arm.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Pick up the label-covered orange bottle with the right arm and 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 right arm.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the label-covered orange bottle and shake.",
+    "Shake the orange bottle with smooth texture after picking it with the right arm.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick up the handheld orange bottle with the right arm and 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 right arm.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Use the right arm to grab the orange bottle with smooth texture and shake.",
+    "Shake the label-covered orange bottle after picking it with the right arm.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick up the handheld orange bottle with the right arm and 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 handheld orange bottle with the right arm.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the label-covered orange bottle and shake.",
+    "Shake the orange bottle with smooth texture after picking it with the right arm.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Pick up the label-covered orange bottle with the right arm and 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 handheld orange bottle with the right arm.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Use the right arm to grab the handheld orange bottle and shake.",
+    "Shake the label-covered orange bottle after picking it with the right arm.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick up the handheld orange bottle with the right arm and 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 right arm.",
+    "Grab the handheld orange bottle and shake it.",
+    "Use the right arm to pick the orange bottle with smooth texture.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the orange bottle with smooth texture and shake.",
+    "Shake the label-covered orange bottle after picking it with the right arm.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick up the handheld orange bottle with the right arm and 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 label-covered orange bottle with the right arm.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the label-covered orange bottle and shake.",
+    "Shake the label-covered orange bottle after picking it with the right arm.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake.",
+    "Pick up the label-covered 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 right arm.",
+    "Grab the handheld orange bottle and shake it.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the label-covered orange bottle and shake.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Grab the label-covered orange bottle and give it a shake."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001263.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the yellow text bottle, shake it, and place it down.",
+    "Grab the medium-size plastic bottle and give it a shake.",
+    "Grab the red bottle with the right arm and shake.",
+    "Grab the bottle with red cap and shake it steadily.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Use the right arm to lift and shake the red bottle with white bottom text.",
+    "Grab the red bottle with curved grooves and move it to shake.",
+    "Lift the medium-size plastic bottle with the right arm and shake it.",
+    "Pick the red bottle with screw cap up using the right arm and shake it.",
+    "Use the right arm to hold the red bottle with screw cap and shake it.",
+    "Shake the red bottle with curved grooves after grabbing it.",
+    "Lift the red bottle with narrow neck with the right arm and shake.",
+    "Shake the red bottle with curved grooves firmly after grabbing.",
+    "Utilize the right arm to hold the yellow text bottle and shake it.",
+    "Grab the yellow text bottle carefully and shake.",
+    "Grasp the bottle with red cap with the right arm and shake it.",
+    "Shake the bottle with red cap after lifting it.",
+    "Use the right arm to lift and shake the yellow text bottle.",
+    "Secure the yellow text bottle and perform a shake.",
+    "Hold the bottle with red cap and shake it properly.",
+    "Hold the smooth red cylindrical bottle with the right arm and shake lightly.",
+    "Hold and shake the the smooth red cylindrical bottle carefully.",
+    "Lift the bottle with red cap with the right arm and give it a shake.",
+    "Shake the medium-size plastic bottle after holding it firmly.",
+    "Lift the red bottle and shake it gently.",
+    "Lift the yellow text bottle and shake it thoroughly.",
+    "Use the right arm to grab the medium-size plastic bottle and shake properly.",
+    "Grab the red bottle using the right arm, then shake.",
+    "Pick the red bottle with white bottom text, shake it with the right arm.",
+    "Lift up the yellow text bottle using the right arm, then shake.",
+    "Shake the red bottle with white bottom text after grabbing it.",
+    "Grip the smooth red cylindrical bottle using the right arm and shake.",
+    "Catch the plastic bottle with bright red color and shake it instantly.",
+    "Pick the red bottle with curved grooves up with the right arm and shake.",
+    "Pick up the bottle with red cap and shake it well.",
+    "Shake the yellow text bottle after grabbing it.",
+    "Shake the the bottle with red cap properly after lifting.",
+    "Hold the red bottle steady, then shake it.",
+    "Use the right arm to pick and shake the yellow text bottle.",
+    "Grab the plastic bottle firmly, shake it, and put it down.",
+    "Take the red bottle with curved grooves using the right arm and give it a shake.",
+    "Hold the handheld plastic bottle, shake it briefly.",
+    "Shake the bottle with red cap thoroughly after grabbing it.",
+    "Grab and shake the smooth red cylindrical bottle using the right arm.",
+    "Pick up the red bottle with white bottom text and shake it.",
+    "Using the right arm, shake the red bottle with curved grooves and then place it back.",
+    "Pick the red bottle with narrow neck and perform shaking motion.",
+    "With the right arm, pick the red bottle with screw cap and shake properly.",
+    "Use the right arm to grab the red bottle with screw cap and shake it.",
+    "Shake the smooth red cylindrical bottle using the right arm after grabbing.",
+    "Secure the bottle with red cap, shake it, and place it down.",
+    "Grab the yellow text bottle and give it a shake.",
+    "Grab the yellow text bottle with the right arm and shake.",
+    "Grab the plastic bottle with bright red color and shake it steadily.",
+    "Use the right arm to lift and shake the red bottle with white bottom text.",
+    "Use the right arm to lift and shake the handheld plastic bottle.",
+    "Grab the plastic bottle and move it to shake.",
+    "Lift the red bottle with narrow neck with the right arm and shake it.",
+    "Pick the red bottle up using the right arm and shake it.",
+    "Use the right arm to hold the plastic bottle with bright red color and shake it.",
+    "Shake the bottle with red cap after grabbing it.",
+    "Lift the plastic bottle with bright red color with the right arm and shake.",
+    "Shake the red bottle with narrow neck firmly after grabbing.",
+    "Utilize the right arm to hold the red bottle with white bottom text and shake it.",
+    "Grab the red bottle with narrow neck carefully and shake.",
+    "Grasp the yellow text bottle with the right arm and shake it.",
+    "Shake the red bottle with white bottom text after lifting it.",
+    "Use the right arm to lift and shake the plastic bottle with bright red color.",
+    "Secure the red bottle with white bottom text and perform a shake.",
+    "Hold the plastic bottle and shake it properly.",
+    "Hold the red bottle with screw cap with the right arm and shake lightly.",
+    "Hold and shake the the medium-size plastic bottle carefully.",
+    "Lift the medium-size plastic bottle with the right arm and give it a shake.",
+    "Shake the medium-size plastic bottle after holding it firmly.",
+    "Lift the handheld plastic bottle and shake it gently.",
+    "Lift the red bottle with white bottom text and shake it thoroughly.",
+    "Use the right arm to grab the red bottle and shake properly.",
+    "Grab the plastic bottle using the right arm, then shake.",
+    "Pick the plastic bottle with bright red color, shake it with the right arm.",
+    "Lift up the red bottle using the right arm, then shake.",
+    "Shake the smooth red cylindrical bottle after grabbing it.",
+    "Grip the medium-size plastic bottle using the right arm and shake.",
+    "Catch the plastic bottle with bright red color and shake it instantly.",
+    "Pick the smooth red cylindrical bottle up with the right arm and shake.",
+    "Pick up the red bottle with white bottom text and shake it well.",
+    "Shake the medium-size plastic bottle after grabbing it.",
+    "Shake the the yellow text bottle properly after lifting.",
+    "Hold the medium-size plastic bottle steady, then shake it.",
+    "Use the right arm to pick and shake the red bottle with curved grooves.",
+    "Grab the medium-size plastic bottle firmly, shake it, and put it down.",
+    "Take the plastic bottle with bright red color using the right arm and give it a shake.",
+    "Hold the plastic bottle, shake it briefly.",
+    "Shake the bottle with red cap thoroughly after grabbing it.",
+    "Grab and shake the red bottle using the right arm.",
+    "Pick up the medium-size plastic bottle and shake it.",
+    "Using the right arm, shake the red bottle and then place it back.",
+    "Pick the bottle with red cap and perform shaking motion.",
+    "With the right arm, pick the medium-size plastic bottle and shake properly.",
+    "Use the right arm to grab the handheld plastic bottle and shake it.",
+    "Shake the red bottle with screw cap using the right arm after grabbing."
+  ],
+  "unseen": [
+    "Use the right arm to pick the shiny red bottle.",
+    "Grab the shiny red bottle and give it a shake.",
+    "Shake the bottle with white and yellow label after picking it with the right arm.",
+    "Grab the bottle with yellow Chinese characters and shake it.",
+    "Pick up the bottle with white and yellow label with the right arm and shake.",
+    "Pick up the shiny red bottle and shake it.",
+    "Use the right arm to grab the shiny red bottle and shake.",
+    "Pick up the bottle with white and yellow label and shake it.",
+    "Pick and shake the the shiny red bottle with the right arm.",
+    "Grab the bottle with white and yellow label, shake it properly, then set it down.",
+    "Use the right arm to pick the bottle with white and yellow label.",
+    "Grab the bottle with yellow Chinese characters and give it a shake.",
+    "Shake the shiny red bottle after picking it with the right arm.",
+    "Grab the shiny red bottle and shake it.",
+    "Pick up the shiny red bottle with the right arm and shake.",
+    "Pick up the bottle with white and yellow label and shake it.",
+    "Use the right arm to grab the bottle with yellow Chinese characters and shake.",
+    "Pick up the bottle with yellow Chinese characters and shake it.",
+    "Pick and shake the the shiny red bottle with the right arm.",
+    "Grab the shiny red bottle, shake it properly, then set it down.",
+    "Use the right arm to pick the bottle with yellow Chinese characters.",
+    "Grab the bottle with white and yellow label and give it a shake.",
+    "Shake the shiny red bottle after picking it with the right arm.",
+    "Grab the bottle with white and yellow label and shake it.",
+    "Pick up the bottle with white and yellow label with the right arm and shake.",
+    "Pick up the shiny red bottle and shake it.",
+    "Use the right arm to grab the shiny red bottle and shake.",
+    "Pick up the shiny red bottle and shake it.",
+    "Pick and shake the the bottle with yellow Chinese characters with the right arm.",
+    "Grab the shiny red bottle, shake it properly, then set it down.",
+    "Use the right arm to pick the bottle with white and yellow label.",
+    "Grab the shiny red bottle and give it a shake.",
+    "Shake the shiny red bottle after picking it with the right arm.",
+    "Grab the bottle with yellow Chinese characters and shake it.",
+    "Pick up the bottle with yellow Chinese characters with the right arm and shake.",
+    "Pick up the bottle with white and yellow label and shake it.",
+    "Use the right arm to grab the bottle with yellow Chinese characters and shake.",
+    "Pick up the shiny red bottle and shake it.",
+    "Pick and shake the the bottle with white and yellow label with the right arm.",
+    "Grab the shiny red bottle, shake it properly, then set it down.",
+    "Use the right arm to pick the bottle with yellow Chinese characters.",
+    "Grab the bottle with yellow Chinese characters and give it a shake.",
+    "Shake the shiny red bottle after picking it with the right arm.",
+    "Grab the bottle with white and yellow label and shake it.",
+    "Pick up the bottle with white and yellow label with the right arm and shake.",
+    "Pick up the bottle with yellow Chinese characters and shake it.",
+    "Use the right arm to grab the bottle with yellow Chinese characters and shake.",
+    "Pick up the shiny red bottle and shake it.",
+    "Pick and shake the the shiny red bottle with the right arm.",
+    "Grab the bottle with white and yellow label, shake it properly, then set it down.",
+    "Use the right arm to pick the bottle with yellow Chinese characters.",
+    "Grab the bottle with yellow Chinese characters and give it a shake.",
+    "Shake the bottle with yellow Chinese characters after picking it with the right arm.",
+    "Grab the bottle with white and yellow label and shake it.",
+    "Pick up the bottle with white and yellow label with the right arm and shake.",
+    "Pick up the bottle with yellow Chinese characters and shake it.",
+    "Use the right arm to grab the bottle with white and yellow label and shake.",
+    "Pick up the shiny red bottle and shake it.",
+    "Pick and shake the the bottle with white and yellow label with the right arm.",
+    "Grab the bottle with white and yellow label, shake it properly, then set it down.",
+    "Use the right arm to pick the bottle with yellow Chinese characters.",
+    "Grab the bottle with white and yellow label and give it a shake.",
+    "Shake the shiny red bottle after picking it with the right arm.",
+    "Grab the shiny red bottle and shake it.",
+    "Pick up the shiny red bottle with the right arm and shake.",
+    "Pick up the bottle with white and yellow label and shake it.",
+    "Use the right arm to grab the bottle with yellow Chinese characters and shake.",
+    "Pick up the shiny red bottle and shake it.",
+    "Pick and shake the the bottle with yellow Chinese characters with the right arm.",
+    "Grab the bottle with white and yellow label, shake it properly, then set it down.",
+    "Use the right arm to pick the bottle with yellow Chinese characters.",
+    "Grab the shiny red bottle and give it a shake.",
+    "Shake the shiny red bottle after picking it with the right arm.",
+    "Grab the bottle with white and yellow label and shake it.",
+    "Pick up the bottle with white and yellow label with the right arm and shake.",
+    "Pick up the bottle with yellow Chinese characters and shake it.",
+    "Use the right arm to grab the shiny red bottle and shake.",
+    "Pick up the shiny red bottle and shake it.",
+    "Pick and shake the the shiny red bottle with the right arm.",
+    "Grab the bottle with white and yellow label, shake it properly, then set it down.",
+    "Use the right arm to pick the bottle with yellow Chinese characters.",
+    "Grab the bottle with yellow Chinese characters and give it a shake.",
+    "Shake the bottle with yellow Chinese characters after picking it with the right arm.",
+    "Grab the bottle with yellow Chinese characters and shake it.",
+    "Pick up the bottle with yellow Chinese characters with the right arm and shake.",
+    "Pick up the bottle with white and yellow label and shake it.",
+    "Use the right arm to grab the bottle with yellow Chinese characters and shake.",
+    "Pick up the shiny red bottle and shake it.",
+    "Pick and shake the the shiny red bottle with the right arm.",
+    "Grab the shiny red bottle, shake it properly, then set it down.",
+    "Use the right arm to pick the bottle with white and yellow label.",
+    "Grab the shiny red bottle and give it a shake.",
+    "Shake the shiny red bottle after picking it with the right arm.",
+    "Grab the shiny red bottle and shake it.",
+    "Pick up the bottle with yellow Chinese characters with the right arm and shake.",
+    "Pick up the bottle with white and yellow label and shake it.",
+    "Use the right arm to grab the bottle with white and yellow label and shake.",
+    "Pick up the bottle with white and yellow label and shake it.",
+    "Pick and shake the the bottle with yellow Chinese characters with the right arm.",
+    "Grab the bottle with white and yellow label, shake it properly, then set it down."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001264.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the plastic bottle using the right arm after grabbing.",
+    "Grab and shake the orange cylindrical bottle using the right arm.",
+    "Utilize the right arm to hold the bottle with narrow neck and shake it.",
+    "Hold the cylindrical orange bottle with yellow top and shake it properly.",
+    "Use the right arm to hold the orange bottle and shake it.",
+    "Shake the yellow-capped plastic bottle after holding it firmly.",
+    "Secure the bottle with narrow neck, shake it, and place it down.",
+    "Grasp the bottle with narrow neck with the right arm and shake it.",
+    "Lift the bottle with yellow cap with the right arm and shake it.",
+    "Grip the bottle for liquids using the right arm and shake.",
+    "Shake the bottle for liquids thoroughly after grabbing it.",
+    "Use the right arm to lift and shake the orange cylindrical bottle.",
+    "Use the right arm to lift and shake the cylindrical orange bottle with yellow top.",
+    "Lift up the plastic bottle with sealed yellow cap using the right arm, then shake.",
+    "Grab the cylindrical orange bottle with yellow top and shake it steadily.",
+    "With the right arm, pick the bottle for liquids and shake properly.",
+    "Grab the bottle with printed label firmly, shake it, and put it down.",
+    "Pick the bottle with yellow cap up using the right arm and shake it.",
+    "Pick up the plastic bottle with sealed yellow cap and shake it.",
+    "Grab the smooth plastic bottle using the right arm, then shake.",
+    "Lift the plastic bottle with sealed yellow cap with the right arm and shake.",
+    "Use the right arm to grab the bottle with yellow cap and shake it.",
+    "Shake the the bottle with yellow cap properly after lifting.",
+    "Catch the plastic bottle and shake it instantly.",
+    "Lift the plastic bottle with sealed yellow cap and shake it gently.",
+    "Hold and shake the the cylindrical orange bottle with yellow top carefully.",
+    "Hold the bottle with narrow neck, shake it briefly.",
+    "Hold the orange bottle steady, then shake it.",
+    "Shake the plastic bottle after lifting it.",
+    "Use the right arm to lift and shake the bottle for liquids.",
+    "Grab the bottle with printed label carefully and shake.",
+    "Pick the yellow-capped plastic bottle and perform shaking motion.",
+    "Shake the plastic bottle with sealed yellow cap after grabbing it.",
+    "Grab the bottle with printed label with the right arm and shake.",
+    "Secure the bottle with yellow cap and perform a shake.",
+    "Pick the bottle with narrow neck, shake it with the right arm.",
+    "Grab the orange cylindrical bottle and move it to shake.",
+    "Shake the yellow-capped plastic bottle after grabbing it.",
+    "Shake the bottle with printed label firmly after grabbing.",
+    "Pick the yellow-capped plastic bottle up with the right arm and shake.",
+    "Grab the cylindrical orange bottle with yellow top and give it a shake.",
+    "Use the right arm to grab the bottle with printed label and shake properly.",
+    "Lift the medium-sized orange bottle with the right arm and give it a shake.",
+    "Hold the plastic bottle with the right arm and shake lightly.",
+    "Using the right arm, shake the orange bottle and then place it back.",
+    "Pick up the bottle for liquids and shake it well.",
+    "Use the right arm to pick and shake the medium-sized orange bottle.",
+    "Lift the yellow-capped plastic bottle and shake it thoroughly.",
+    "Take the orange cylindrical bottle using the right arm and give it a shake.",
+    "Shake the yellow-capped plastic bottle after grabbing it.",
+    "Shake the cylindrical orange bottle with yellow top using the right arm after grabbing.",
+    "Grab and shake the orange cylindrical bottle using the right arm.",
+    "Utilize the right arm to hold the cylindrical orange bottle with yellow top and shake it.",
+    "Hold the smooth plastic bottle and shake it properly.",
+    "Use the right arm to hold the cylindrical orange bottle with yellow top and shake it.",
+    "Shake the bottle with narrow neck after holding it firmly.",
+    "Secure the medium-sized orange bottle, shake it, and place it down.",
+    "Grasp the medium-sized orange bottle with the right arm and shake it.",
+    "Lift the medium-sized orange bottle with the right arm and shake it.",
+    "Grip the medium-sized orange bottle using the right arm and shake.",
+    "Shake the orange bottle thoroughly after grabbing it.",
+    "Use the right arm to lift and shake the bottle with printed label.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Lift up the bottle with narrow neck using the right arm, then shake.",
+    "Grab the orange cylindrical bottle and shake it steadily.",
+    "With the right arm, pick the yellow-capped plastic bottle and shake properly.",
+    "Grab the medium-sized orange bottle firmly, shake it, and put it down.",
+    "Pick the cylindrical orange bottle with yellow top up using the right arm and shake it.",
+    "Pick up the plastic bottle and shake it.",
+    "Grab the bottle with printed label using the right arm, then shake.",
+    "Lift the cylindrical orange bottle with yellow top with the right arm and shake.",
+    "Use the right arm to grab the bottle for liquids and shake it.",
+    "Shake the the bottle for liquids properly after lifting.",
+    "Catch the bottle for liquids and shake it instantly.",
+    "Lift the yellow-capped plastic bottle and shake it gently.",
+    "Hold and shake the the plastic bottle with sealed yellow cap carefully.",
+    "Hold the cylindrical orange bottle with yellow top, shake it briefly.",
+    "Hold the orange cylindrical bottle steady, then shake it.",
+    "Shake the cylindrical orange bottle with yellow top after lifting it.",
+    "Use the right arm to lift and shake the orange cylindrical bottle.",
+    "Grab the bottle with narrow neck carefully and shake.",
+    "Pick the plastic bottle and perform shaking motion.",
+    "Shake the orange cylindrical bottle after grabbing it.",
+    "Grab the cylindrical orange bottle with yellow top with the right arm and shake.",
+    "Secure the plastic bottle with sealed yellow cap and perform a shake.",
+    "Pick the plastic bottle with sealed yellow cap, shake it with the right arm.",
+    "Grab the orange cylindrical bottle and move it to shake.",
+    "Shake the bottle for liquids after grabbing it.",
+    "Shake the orange bottle firmly after grabbing.",
+    "Pick the bottle with printed label up with the right arm and shake.",
+    "Grab the bottle with printed label and give it a shake.",
+    "Use the right arm to grab the plastic bottle and shake properly.",
+    "Lift the medium-sized orange bottle with the right arm and give it a shake.",
+    "Hold the plastic bottle with the right arm and shake lightly.",
+    "Using the right arm, shake the cylindrical orange bottle with yellow top and then place it back.",
+    "Pick up the bottle with yellow cap and shake it well.",
+    "Use the right arm to pick and shake the smooth plastic bottle.",
+    "Lift the bottle with yellow cap and shake it thoroughly.",
+    "Take the bottle for liquids using the right arm and give it a shake.",
+    "Shake the orange bottle after grabbing it."
+  ],
+  "unseen": [
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the right arm to grab the label-covered orange bottle and shake.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Pick and shake the the label-covered orange bottle with the right arm.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Shake the label-covered orange bottle after picking it with the right arm.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Use the right arm to grab the label-covered orange bottle and shake.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Pick and shake the the orange bottle with smooth texture with the right arm.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Use the right arm to grab the handheld orange bottle and shake.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Pick and shake the the label-covered orange bottle with the right arm.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Shake the orange bottle with smooth texture after picking it with the right arm.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the right arm to grab the handheld orange bottle and shake.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Use the right arm to pick the orange bottle with smooth texture.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Shake the label-covered orange bottle after picking it with the right arm.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the right arm to grab the label-covered orange bottle and shake.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Pick and shake the the label-covered orange bottle with the right arm.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the right arm to grab the handheld orange bottle and shake.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Pick and shake the the orange bottle with smooth texture with the right arm.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Shake the orange bottle with smooth texture after picking it with the right arm.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the right arm to grab the orange bottle with smooth texture and shake.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Use the right arm to pick the orange bottle with smooth texture.",
+    "Pick and shake the the label-covered orange bottle with the right arm.",
+    "Pick up the label-covered orange bottle with the right arm and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the right arm to grab the label-covered orange bottle and shake.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Shake the label-covered orange bottle after picking it with the right arm.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Use the right arm to grab the label-covered orange bottle and shake.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the right arm to grab the orange bottle with smooth texture and shake.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Use the right arm to pick the orange bottle with smooth texture.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Pick up the label-covered orange bottle with the right arm and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Shake the label-covered orange bottle after picking it with the right arm."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001283.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the left arm, shake the bottle with green and white labels and then place it back.",
+    "Use the left arm to hold the yellow bottle with a green design and shake it.",
+    "Grab the yellow container with rounded edges firmly, shake it, and put it down.",
+    "Grab and shake the smooth bottle with rounded edges using the left arm.",
+    "Shake the medium rectangular yellow bottle using the left arm after grabbing.",
+    "Lift the medium rectangular yellow bottle and shake it gently.",
+    "With the left arm, pick the yellow bottle and shake properly.",
+    "Pick the bottle with green label up with the left arm and shake.",
+    "Grip the yellow bottle using the left arm and shake.",
+    "Grab the plastic bottle using the left arm, then shake.",
+    "Use the left arm to grab the bottle with a smooth plastic body and shake properly.",
+    "Shake the bottle with white cap after grabbing it.",
+    "Take the bottle with white cap using the left arm and give it a shake.",
+    "Use the left arm to lift and shake the plastic bottle.",
+    "Lift the plastic bottle with the left arm and shake it.",
+    "Shake the yellow plastic bottle with white top after lifting it.",
+    "Hold the yellow bottle with a green design steady, then shake it.",
+    "Secure the bottle with white cap, shake it, and place it down.",
+    "Grab the yellow bottle and move it to shake.",
+    "Hold and shake the the smooth bottle with rounded edges carefully.",
+    "Hold the yellow bottle with a green design, shake it briefly.",
+    "Grasp the yellow plastic bottle with white top with the left arm and shake it.",
+    "Utilize the left arm to hold the yellow bottle and shake it.",
+    "Pick up the yellow plastic bottle with white top and shake it well.",
+    "Shake the bottle with white cap firmly after grabbing.",
+    "Use the left arm to grab the yellow container with rounded edges and shake it.",
+    "Lift the yellow bottle with a green design with the left arm and give it a shake.",
+    "Use the left arm to lift and shake the bottle with green label.",
+    "Pick the bottle with white cap and perform shaking motion.",
+    "Hold the medium rectangular yellow bottle and shake it properly.",
+    "Shake the yellow plastic bottle with white top after grabbing it.",
+    "Shake the yellow container with rounded edges after holding it firmly.",
+    "Grab the plastic bottle and shake it steadily.",
+    "Pick the bottle with green and white labels up using the left arm and shake it.",
+    "Hold the bottle with green label with the left arm and shake lightly.",
+    "Secure the yellow bottle and perform a shake.",
+    "Shake the the bottle with a smooth plastic body properly after lifting.",
+    "Pick the rectangular bottle with cylindrical neck, shake it with the left arm.",
+    "Grab the yellow bottle and give it a shake.",
+    "Grab the bottle with green label carefully and shake.",
+    "Catch the yellow bottle and shake it instantly.",
+    "Use the left arm to lift and shake the bottle with a smooth plastic body.",
+    "Shake the yellow container with rounded edges thoroughly after grabbing it.",
+    "Lift the bottle with green and white labels with the left arm and shake.",
+    "Lift the medium rectangular yellow bottle and shake it thoroughly.",
+    "Grab the yellow container with rounded edges with the left arm and shake.",
+    "Lift up the plastic bottle using the left arm, then shake.",
+    "Shake the bottle with green label after grabbing it.",
+    "Use the left arm to pick and shake the yellow bottle with a green design.",
+    "Pick up the bottle with white cap and shake it.",
+    "Using the left arm, shake the bottle with green and white labels and then place it back.",
+    "Use the left arm to hold the yellow bottle and shake it.",
+    "Grab the rectangular bottle with cylindrical neck firmly, shake it, and put it down.",
+    "Grab and shake the smooth bottle with rounded edges using the left arm.",
+    "Shake the bottle with a smooth plastic body using the left arm after grabbing.",
+    "Lift the yellow container with rounded edges and shake it gently.",
+    "With the left arm, pick the yellow container with rounded edges and shake properly.",
+    "Pick the rectangular bottle with cylindrical neck up with the left arm and shake.",
+    "Grip the medium rectangular yellow bottle using the left arm and shake.",
+    "Grab the rectangular bottle with cylindrical neck using the left arm, then shake.",
+    "Use the left arm to grab the yellow bottle with a green design and shake properly.",
+    "Shake the yellow plastic bottle with white top after grabbing it.",
+    "Take the plastic bottle using the left arm and give it a shake.",
+    "Use the left arm to lift and shake the yellow plastic bottle with white top.",
+    "Lift the yellow container with rounded edges with the left arm and shake it.",
+    "Shake the medium rectangular yellow bottle after lifting it.",
+    "Hold the bottle with a smooth plastic body steady, then shake it.",
+    "Secure the yellow plastic bottle with white top, shake it, and place it down.",
+    "Grab the yellow plastic bottle with white top and move it to shake.",
+    "Hold and shake the the bottle with a smooth plastic body carefully.",
+    "Hold the bottle with green and white labels, shake it briefly.",
+    "Grasp the smooth bottle with rounded edges with the left arm and shake it.",
+    "Utilize the left arm to hold the bottle with white cap and shake it.",
+    "Pick up the bottle with green label and shake it well.",
+    "Shake the bottle with green and white labels firmly after grabbing.",
+    "Use the left arm to grab the yellow container with rounded edges and shake it.",
+    "Lift the yellow container with rounded edges with the left arm and give it a shake.",
+    "Use the left arm to lift and shake the bottle with green and white labels.",
+    "Pick the medium rectangular yellow bottle and perform shaking motion.",
+    "Hold the rectangular bottle with cylindrical neck and shake it properly.",
+    "Shake the rectangular bottle with cylindrical neck after grabbing it.",
+    "Shake the bottle with white cap after holding it firmly.",
+    "Grab the smooth bottle with rounded edges and shake it steadily.",
+    "Pick the bottle with a smooth plastic body up using the left arm and shake it.",
+    "Hold the bottle with green label with the left arm and shake lightly.",
+    "Secure the yellow bottle with a green design and perform a shake.",
+    "Shake the the yellow plastic bottle with white top properly after lifting.",
+    "Pick the yellow plastic bottle with white top, shake it with the left arm.",
+    "Grab the rectangular bottle with cylindrical neck and give it a shake.",
+    "Grab the yellow bottle with a green design carefully and shake.",
+    "Catch the yellow bottle with a green design and shake it instantly.",
+    "Use the left arm to lift and shake the bottle with green label.",
+    "Shake the rectangular bottle with cylindrical neck thoroughly after grabbing it.",
+    "Lift the smooth bottle with rounded edges with the left arm and shake.",
+    "Lift the yellow bottle and shake it thoroughly.",
+    "Grab the medium rectangular yellow bottle with the left arm and shake.",
+    "Lift up the medium rectangular yellow bottle using the left arm, then shake.",
+    "Shake the yellow container with rounded edges after grabbing it.",
+    "Use the left arm to pick and shake the smooth bottle with rounded edges.",
+    "Pick up the plastic bottle and shake it."
+  ],
+  "unseen": [
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Shake the yellow rectangular bottle after picking it with the left arm.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "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.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "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.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the left arm.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "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.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "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.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Shake the yellow rectangular bottle after picking it with the left arm.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "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.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "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.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Shake the yellow rectangular bottle after picking it with the left arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Pick up the yellow rectangular bottle with the left arm and shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the left arm to pick the yellow bottle for liquid storage.",
+    "Pick and shake the the yellow rectangular bottle with the left arm.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "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.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the left arm to pick the yellow rectangular bottle.",
+    "Pick and shake the the yellow rectangular bottle with the left arm.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the left arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the left arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Pick up the hand-sized yellow plastic bottle with the left arm and shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "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.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the left arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Pick up the yellow rectangular bottle with the left arm and shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the left arm to pick the yellow rectangular bottle.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the left arm.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Shake the yellow rectangular bottle after picking it with the left arm.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the left arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Pick up the hand-sized yellow plastic bottle with the left arm and shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the left arm to pick the yellow rectangular bottle.",
+    "Pick and shake the the yellow bottle for liquid storage with the left arm.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Shake the yellow rectangular bottle after picking it with the left arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Pick up the yellow bottle for liquid storage with the left arm and shake.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "Pick and shake the the yellow rectangular bottle with the left arm.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "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.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "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.",
+    "Grab the yellow rectangular bottle and give it a shake."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001307.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to lift and shake the bottle with narrow neck.",
+    "Use the right arm to lift and shake the bottle with narrow neck.",
+    "Grab the orange cylindrical bottle using the right arm, then shake.",
+    "Shake the cylindrical orange bottle with yellow top thoroughly after grabbing it.",
+    "Grab the bottle with yellow cap firmly, shake it, and put it down.",
+    "Hold and shake the the orange cylindrical bottle carefully.",
+    "Pick the cylindrical orange bottle with yellow top, shake it with the right arm.",
+    "Grab the orange bottle and shake it steadily.",
+    "Catch the bottle with yellow cap and shake it instantly.",
+    "Grab and shake the bottle with printed label using the right arm.",
+    "Lift the bottle with yellow cap and shake it thoroughly.",
+    "Lift the plastic bottle with sealed yellow cap and shake it gently.",
+    "Shake the bottle with narrow neck after lifting it.",
+    "Shake the the plastic bottle properly after lifting.",
+    "Using the right arm, shake the plastic bottle with sealed yellow cap and then place it back.",
+    "Lift the yellow-capped plastic bottle with the right arm and shake.",
+    "Secure the bottle for liquids and perform a shake.",
+    "Pick the bottle with printed label up with the right arm and shake.",
+    "Lift the yellow-capped plastic bottle with the right arm and shake it.",
+    "Pick up the medium-sized orange bottle and shake it well.",
+    "Secure the yellow-capped plastic bottle, shake it, and place it down.",
+    "Take the cylindrical orange bottle with yellow top using the right arm and give it a shake.",
+    "Pick up the plastic bottle with sealed yellow cap and shake it.",
+    "Grab the bottle with narrow neck and give it a shake.",
+    "Hold the bottle with printed label and shake it properly.",
+    "Lift the orange cylindrical bottle with the right arm and give it a shake.",
+    "Shake the bottle with yellow cap after grabbing it.",
+    "Use the right arm to hold the cylindrical orange bottle with yellow top and shake it.",
+    "Shake the bottle with narrow neck after holding it firmly.",
+    "Use the right arm to grab the plastic bottle with sealed yellow cap and shake it.",
+    "Use the right arm to pick and shake the bottle for liquids.",
+    "Shake the smooth plastic bottle using the right arm after grabbing.",
+    "Grasp the smooth plastic bottle with the right arm and shake it.",
+    "Grab the plastic bottle with sealed yellow cap with the right arm and shake.",
+    "Pick the yellow-capped plastic bottle and perform shaking motion.",
+    "Hold the bottle with printed label with the right arm and shake lightly.",
+    "With the right arm, pick the yellow-capped plastic bottle and shake properly.",
+    "Grab the bottle with yellow cap and move it to shake.",
+    "Use the right arm to lift and shake the bottle for liquids.",
+    "Shake the yellow-capped plastic bottle after grabbing it.",
+    "Use the right arm to grab the medium-sized orange bottle and shake properly.",
+    "Grip the bottle with printed label using the right arm and shake.",
+    "Grab the cylindrical orange bottle with yellow top carefully and shake.",
+    "Utilize the right arm to hold the medium-sized orange bottle and shake it.",
+    "Shake the bottle with narrow neck firmly after grabbing.",
+    "Pick the bottle with narrow neck up using the right arm and shake it.",
+    "Shake the plastic bottle with sealed yellow cap after grabbing it.",
+    "Hold the medium-sized orange bottle, shake it briefly.",
+    "Hold the bottle with narrow neck steady, then shake it.",
+    "Lift up the smooth plastic bottle using the right arm, then shake.",
+    "Use the right arm to lift and shake the yellow-capped plastic bottle.",
+    "Use the right arm to lift and shake the orange cylindrical bottle.",
+    "Grab the orange bottle using the right arm, then shake.",
+    "Shake the bottle with yellow cap thoroughly after grabbing it.",
+    "Grab the smooth plastic bottle firmly, shake it, and put it down.",
+    "Hold and shake the the smooth plastic bottle carefully.",
+    "Pick the bottle with printed label, shake it with the right arm.",
+    "Grab the yellow-capped plastic bottle and shake it steadily.",
+    "Catch the plastic bottle and shake it instantly.",
+    "Grab and shake the plastic bottle with sealed yellow cap using the right arm.",
+    "Lift the orange bottle and shake it thoroughly.",
+    "Lift the bottle with printed label and shake it gently.",
+    "Shake the plastic bottle with sealed yellow cap after lifting it.",
+    "Shake the the medium-sized orange bottle properly after lifting.",
+    "Using the right arm, shake the medium-sized orange bottle and then place it back.",
+    "Lift the cylindrical orange bottle with yellow top with the right arm and shake.",
+    "Secure the medium-sized orange bottle and perform a shake.",
+    "Pick the orange bottle up with the right arm and shake.",
+    "Lift the yellow-capped plastic bottle with the right arm and shake it.",
+    "Pick up the plastic bottle with sealed yellow cap and shake it well.",
+    "Secure the yellow-capped plastic bottle, shake it, and place it down.",
+    "Take the orange cylindrical bottle using the right arm and give it a shake.",
+    "Pick up the bottle with yellow cap and shake it.",
+    "Grab the bottle with yellow cap and give it a shake.",
+    "Hold the bottle with printed label and shake it properly.",
+    "Lift the plastic bottle with sealed yellow cap with the right arm and give it a shake.",
+    "Shake the bottle for liquids after grabbing it.",
+    "Use the right arm to hold the plastic bottle with sealed yellow cap and shake it.",
+    "Shake the bottle with printed label after holding it firmly.",
+    "Use the right arm to grab the bottle with narrow neck and shake it.",
+    "Use the right arm to pick and shake the yellow-capped plastic bottle.",
+    "Shake the plastic bottle using the right arm after grabbing.",
+    "Grasp the bottle for liquids with the right arm and shake it.",
+    "Grab the orange bottle with the right arm and shake.",
+    "Pick the bottle for liquids and perform shaking motion.",
+    "Hold the orange bottle with the right arm and shake lightly.",
+    "With the right arm, pick the orange bottle and shake properly.",
+    "Grab the cylindrical orange bottle with yellow top and move it to shake.",
+    "Use the right arm to lift and shake the bottle with printed label.",
+    "Shake the cylindrical orange bottle with yellow top after grabbing it.",
+    "Use the right arm to grab the plastic bottle and shake properly.",
+    "Grip the smooth plastic bottle using the right arm and shake.",
+    "Grab the bottle with yellow cap carefully and shake.",
+    "Utilize the right arm to hold the smooth plastic bottle and shake it.",
+    "Shake the yellow-capped plastic bottle firmly after grabbing.",
+    "Pick the bottle with narrow neck up using the right arm and shake it.",
+    "Shake the medium-sized orange bottle after grabbing it.",
+    "Hold the medium-sized orange bottle, shake it briefly.",
+    "Hold the plastic bottle steady, then shake it.",
+    "Lift up the cylindrical orange bottle with yellow top using the right arm, then shake."
+  ],
+  "unseen": [
+    "Pick and shake the the orange bottle with smooth texture with the right arm.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Use the right arm to grab the orange bottle with smooth texture and shake.",
+    "Shake the orange bottle with smooth texture after picking it with the right arm.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the label-covered orange bottle and shake it.",
+    "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 pick the label-covered orange bottle.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake.",
+    "Use the right arm to grab the orange bottle with smooth texture and shake.",
+    "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 label-covered orange bottle and shake it.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake.",
+    "Use the right arm to grab the handheld orange bottle and shake.",
+    "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 label-covered orange bottle and shake it.",
+    "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 pick the orange bottle with smooth texture.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake.",
+    "Use the right arm to grab the handheld orange bottle and shake.",
+    "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 handheld orange bottle and shake it.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Use the right arm to pick the orange bottle with smooth texture.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick and shake the the label-covered orange bottle with the right arm.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Use the right arm to grab the handheld orange bottle and shake.",
+    "Shake the handheld orange bottle 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 shake it.",
+    "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 pick the orange bottle with smooth texture.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Use the right arm to grab the handheld orange bottle and shake.",
+    "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 handheld orange bottle and shake it.",
+    "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 pick the orange bottle with smooth texture.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick and shake the the label-covered orange bottle with the right arm.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Use the right arm to grab the handheld orange bottle and shake.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the handheld orange bottle and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Use the right arm to pick the orange bottle with smooth texture.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake.",
+    "Use the right arm to grab the handheld orange bottle and shake.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the handheld orange bottle and shake it.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Use the right arm to pick the orange bottle with smooth texture.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick and shake the the label-covered orange bottle with the right arm.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake.",
+    "Use the right arm to grab the label-covered orange bottle and shake.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick and shake the the orange bottle with smooth texture with the right arm.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Use the right arm to grab the handheld orange bottle and shake.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the handheld orange bottle and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Grab the handheld orange bottle, shake it properly, then set it down."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001315.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the yellow bottle and shake it steadily.",
+    "Grab and shake the smooth bottle with rounded edges using the left arm.",
+    "Hold and shake the the smooth bottle with rounded edges carefully.",
+    "Pick the bottle with green and white labels up using the left arm and shake it.",
+    "Use the left arm to grab the rectangular bottle with cylindrical neck and shake it.",
+    "Use the left arm to lift and shake the smooth bottle with rounded edges.",
+    "Use the left arm to hold the yellow bottle and shake it.",
+    "Shake the medium rectangular yellow bottle after grabbing it.",
+    "Grab the yellow bottle carefully and shake.",
+    "Use the left arm to lift and shake the yellow bottle with a green design.",
+    "Lift the yellow plastic bottle with white top with the left arm and shake it.",
+    "Lift the yellow plastic bottle with white top and shake it gently.",
+    "Take the yellow plastic bottle with white top using the left arm and give it a shake.",
+    "Grab the yellow container with rounded edges with the left arm and shake.",
+    "Lift the yellow bottle and shake it thoroughly.",
+    "Shake the yellow container with rounded edges after lifting it.",
+    "Grab the yellow bottle with a green design using the left arm, then shake.",
+    "Lift up the plastic bottle using the left arm, then shake.",
+    "Use the left arm to pick and shake the smooth bottle with rounded edges.",
+    "With the left arm, pick the bottle with green label and shake properly.",
+    "Secure the plastic bottle, shake it, and place it down.",
+    "Hold the bottle with a smooth plastic body steady, then shake it.",
+    "Catch the yellow plastic bottle with white top and shake it instantly.",
+    "Lift the yellow container with rounded edges with the left arm and give it a shake.",
+    "Pick up the bottle with a smooth plastic body and shake it well.",
+    "Pick the yellow container with rounded edges and perform shaking motion.",
+    "Shake the bottle with white cap after grabbing it.",
+    "Shake the the bottle with green label properly after lifting.",
+    "Pick the plastic bottle up with the left arm and shake.",
+    "Use the left arm to grab the bottle with green and white labels and shake properly.",
+    "Grip the yellow plastic bottle with white top using the left arm and shake.",
+    "Grab the yellow container with rounded edges and give it a shake.",
+    "Use the left arm to lift and shake the bottle with green and white labels.",
+    "Grab the yellow plastic bottle with white top and move it to shake.",
+    "Hold the bottle with a smooth plastic body and shake it properly.",
+    "Pick up the yellow bottle and shake it.",
+    "Shake the bottle with green label thoroughly after grabbing it.",
+    "Secure the bottle with white cap and perform a shake.",
+    "Shake the bottle with green and white labels after holding it firmly.",
+    "Grab the medium rectangular yellow bottle firmly, shake it, and put it down.",
+    "Shake the bottle with green and white labels using the left arm after grabbing.",
+    "Utilize the left arm to hold the bottle with a smooth plastic body and shake it.",
+    "Hold the bottle with green and white labels with the left arm and shake lightly.",
+    "Lift the bottle with white cap with the left arm and shake.",
+    "Shake the bottle with green label after grabbing it.",
+    "Hold the bottle with a smooth plastic body, shake it briefly.",
+    "Pick the smooth bottle with rounded edges, shake it with the left arm.",
+    "Shake the bottle with green label firmly after grabbing.",
+    "Grasp the plastic bottle with the left arm and shake it.",
+    "Using the left arm, shake the yellow plastic bottle with white top and then place it back.",
+    "Grab the bottle with white cap and shake it steadily.",
+    "Grab and shake the yellow bottle using the left arm.",
+    "Hold and shake the the medium rectangular yellow bottle carefully.",
+    "Pick the yellow bottle with a green design up using the left arm and shake it.",
+    "Use the left arm to grab the bottle with white cap and shake it.",
+    "Use the left arm to lift and shake the rectangular bottle with cylindrical neck.",
+    "Use the left arm to hold the bottle with green and white labels and shake it.",
+    "Shake the bottle with green label after grabbing it.",
+    "Grab the bottle with a smooth plastic body carefully and shake.",
+    "Use the left arm to lift and shake the yellow bottle.",
+    "Lift the yellow plastic bottle with white top with the left arm and shake it.",
+    "Lift the yellow plastic bottle with white top and shake it gently.",
+    "Take the medium rectangular yellow bottle using the left arm and give it a shake.",
+    "Grab the yellow plastic bottle with white top with the left arm and shake.",
+    "Lift the smooth bottle with rounded edges and shake it thoroughly.",
+    "Shake the yellow plastic bottle with white top after lifting it.",
+    "Grab the bottle with white cap using the left arm, then shake.",
+    "Lift up the yellow plastic bottle with white top using the left arm, then shake.",
+    "Use the left arm to pick and shake the bottle with a smooth plastic body.",
+    "With the left arm, pick the plastic bottle and shake properly.",
+    "Secure the bottle with a smooth plastic body, shake it, and place it down.",
+    "Hold the plastic bottle steady, then shake it.",
+    "Catch the rectangular bottle with cylindrical neck and shake it instantly.",
+    "Lift the bottle with green and white labels with the left arm and give it a shake.",
+    "Pick up the yellow plastic bottle with white top and shake it well.",
+    "Pick the bottle with a smooth plastic body and perform shaking motion.",
+    "Shake the bottle with green label after grabbing it.",
+    "Shake the the yellow plastic bottle with white top properly after lifting.",
+    "Pick the bottle with white cap up with the left arm and shake.",
+    "Use the left arm to grab the yellow container with rounded edges and shake properly.",
+    "Grip the smooth bottle with rounded edges using the left arm and shake.",
+    "Grab the yellow container with rounded edges and give it a shake.",
+    "Use the left arm to lift and shake the yellow plastic bottle with white top.",
+    "Grab the bottle with green label and move it to shake.",
+    "Hold the yellow plastic bottle with white top and shake it properly.",
+    "Pick up the plastic bottle and shake it.",
+    "Shake the bottle with a smooth plastic body thoroughly after grabbing it.",
+    "Secure the yellow plastic bottle with white top and perform a shake.",
+    "Shake the yellow bottle with a green design after holding it firmly.",
+    "Grab the bottle with a smooth plastic body firmly, shake it, and put it down.",
+    "Shake the rectangular bottle with cylindrical neck using the left arm after grabbing.",
+    "Utilize the left arm to hold the yellow plastic bottle with white top and shake it.",
+    "Hold the bottle with white cap with the left arm and shake lightly.",
+    "Lift the bottle with a smooth plastic body with the left arm and shake.",
+    "Shake the yellow bottle with a green design after grabbing it.",
+    "Hold the bottle with white cap, shake it briefly.",
+    "Pick the bottle with green and white labels, shake it with the left arm.",
+    "Shake the bottle with white cap firmly after grabbing.",
+    "Grasp the bottle with a smooth plastic body with the left arm and shake it.",
+    "Using the left arm, shake the yellow bottle and then place it back."
+  ],
+  "unseen": [
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick and shake the the yellow rectangular bottle with the left arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the left arm to pick the yellow bottle for liquid storage.",
+    "Pick up the yellow rectangular bottle with the left arm and shake.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick and shake the the yellow rectangular bottle with the left arm.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the left arm to pick the yellow bottle for liquid storage.",
+    "Pick up the yellow bottle for liquid storage with the left arm and shake.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Use the left arm to grab the yellow rectangular bottle and shake.",
+    "Shake the yellow rectangular bottle after picking it with the left arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "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.",
+    "Use the left arm to pick the yellow rectangular bottle.",
+    "Pick up the yellow bottle for liquid storage with the left arm and shake.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick and shake the the yellow bottle for liquid storage with the left arm.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the left arm to pick the yellow bottle for liquid storage.",
+    "Pick up the hand-sized yellow plastic bottle with the left arm and shake.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick and shake the the yellow rectangular bottle with the left arm.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the left arm to pick the yellow bottle for liquid storage.",
+    "Pick up the yellow rectangular bottle with the left arm and shake.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the yellow rectangular bottle and shake.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the left arm.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick and shake the the yellow rectangular bottle with the left arm.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the left arm to pick the yellow rectangular bottle.",
+    "Pick up the yellow rectangular bottle with the left arm and shake.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Shake the yellow rectangular bottle after picking it with the left arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick and shake the the yellow rectangular bottle with the left arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the left arm to pick the yellow bottle for liquid storage.",
+    "Pick up the yellow rectangular bottle with the left arm and shake.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Use the left arm to grab the yellow rectangular bottle and shake.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the left arm.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "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.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "Pick up the hand-sized yellow plastic bottle with the left arm and shake.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the yellow rectangular bottle and shake.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "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.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "Pick up the yellow rectangular bottle with the left arm and shake.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Shake the yellow rectangular bottle after picking it with the left arm.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "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.",
+    "Use the left arm to pick the yellow rectangular bottle.",
+    "Pick up the hand-sized yellow plastic bottle with the left arm and shake.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the yellow rectangular bottle and shake.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001316.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the white-capped brown cylindrical bottle and perform shaking motion.",
+    "Hold the bottle with white cap steady, then shake it.",
+    "Secure the smooth brown bottle, shake it, and place it down.",
+    "Hold the handheld brown bottle with white lid and shake it properly.",
+    "Grip the medium bottle with smooth texture using the right arm and shake.",
+    "Hold the medium bottle with smooth texture with the right arm and shake lightly.",
+    "Shake the the bottle with brown body and white top properly after lifting.",
+    "Utilize the right arm to hold the plastic bottle with printed label and shake it.",
+    "Lift the bottle with dark brown color with the right arm and shake.",
+    "Shake the white-capped brown cylindrical bottle after grabbing it.",
+    "Grab and shake the white-capped brown cylindrical bottle using the right arm.",
+    "Hold the rounded bottle with printed details, shake it briefly.",
+    "Use the right arm to hold the smooth brown bottle and shake it.",
+    "Grab the white-capped brown cylindrical bottle and move it to shake.",
+    "Lift the bottle with dark brown color with the right arm and shake it.",
+    "Use the right arm to grab the smooth brown bottle and shake it.",
+    "Take the smooth brown bottle using the right arm and give it a shake.",
+    "Shake the cylindrical bottle with narrow neck thoroughly after grabbing it.",
+    "Lift the medium bottle with smooth texture and shake it gently.",
+    "Shake the plastic bottle with printed label firmly after grabbing.",
+    "Secure the medium plastic bottle and perform a shake.",
+    "Shake the medium plastic bottle after grabbing it.",
+    "Shake the bottle with white cap after grabbing it.",
+    "Lift the smooth brown bottle with the right arm and give it a shake.",
+    "Use the right arm to lift and shake the rounded bottle with printed details.",
+    "Lift the bottle with brown body and white top and shake it thoroughly.",
+    "Grab the rounded bottle with printed details carefully and shake.",
+    "Shake the medium plastic bottle after lifting it.",
+    "Pick the plastic bottle for liquids up using the right arm and shake it.",
+    "Using the right arm, shake the bottle with dark brown color and then place it back.",
+    "Use the right arm to grab the rounded bottle with printed details and shake properly.",
+    "Grasp the smooth brown bottle with the right arm and shake it.",
+    "Pick the handheld brown bottle with white lid, shake it with the right arm.",
+    "Grab the plastic bottle with printed label using the right arm, then shake.",
+    "Shake the white-capped brown cylindrical bottle using the right arm after grabbing.",
+    "Pick up the medium bottle with smooth texture and shake it well.",
+    "With the right arm, pick the handheld brown bottle with white lid and shake properly.",
+    "Catch the white-capped brown cylindrical bottle and shake it instantly.",
+    "Use the right arm to pick and shake the bottle with dark brown color.",
+    "Grab the handheld brown bottle with white lid with the right arm and shake.",
+    "Pick up the medium plastic bottle and shake it.",
+    "Shake the rounded bottle with printed details after holding it firmly.",
+    "Grab the bottle with brown body and white top firmly, shake it, and put it down.",
+    "Lift up the rounded bottle with printed details using the right arm, then shake.",
+    "Grab the medium plastic bottle and give it a shake.",
+    "Use the right arm to lift and shake the medium plastic bottle.",
+    "Hold and shake the the medium plastic bottle carefully.",
+    "Use the right arm to lift and shake the bottle with dark brown color.",
+    "Grab the cylindrical bottle with narrow neck and shake it steadily.",
+    "Pick the rounded bottle with printed details up with the right arm and shake.",
+    "Pick the handheld brown bottle with white lid and perform shaking motion.",
+    "Hold the cylindrical bottle with narrow neck steady, then shake it.",
+    "Secure the medium plastic bottle, shake it, and place it down.",
+    "Hold the white-capped brown cylindrical bottle and shake it properly.",
+    "Grip the bottle with white cap using the right arm and shake.",
+    "Hold the smooth brown bottle with the right arm and shake lightly.",
+    "Shake the the smooth brown bottle properly after lifting.",
+    "Utilize the right arm to hold the handheld brown bottle with white lid and shake it.",
+    "Lift the plastic bottle for liquids with the right arm and shake.",
+    "Shake the handheld brown bottle with white lid after grabbing it.",
+    "Grab and shake the plastic bottle for liquids using the right arm.",
+    "Hold the bottle with dark brown color, shake it briefly.",
+    "Use the right arm to hold the bottle with dark brown color and shake it.",
+    "Grab the medium plastic bottle and move it to shake.",
+    "Lift the bottle with brown body and white top with the right arm and shake it.",
+    "Use the right arm to grab the medium plastic bottle and shake it.",
+    "Take the rounded bottle with printed details using the right arm and give it a shake.",
+    "Shake the cylindrical bottle with narrow neck thoroughly after grabbing it.",
+    "Lift the plastic bottle for liquids and shake it gently.",
+    "Shake the plastic bottle with printed label firmly after grabbing.",
+    "Secure the plastic bottle for liquids and perform a shake.",
+    "Shake the handheld brown bottle with white lid after grabbing it.",
+    "Shake the plastic bottle with printed label after grabbing it.",
+    "Lift the bottle with dark brown color with the right arm and give it a shake.",
+    "Use the right arm to lift and shake the bottle with brown body and white top.",
+    "Lift the plastic bottle with printed label and shake it thoroughly.",
+    "Grab the white-capped brown cylindrical bottle carefully and shake.",
+    "Shake the white-capped brown cylindrical bottle after lifting it.",
+    "Pick the medium plastic bottle up using the right arm and shake it.",
+    "Using the right arm, shake the plastic bottle for liquids and then place it back.",
+    "Use the right arm to grab the rounded bottle with printed details and shake properly.",
+    "Grasp the plastic bottle for liquids with the right arm and shake it.",
+    "Pick the plastic bottle for liquids, shake it with the right arm.",
+    "Grab the bottle with dark brown color using the right arm, then shake.",
+    "Shake the bottle with dark brown color using the right arm after grabbing.",
+    "Pick up the handheld brown bottle with white lid and shake it well.",
+    "With the right arm, pick the plastic bottle for liquids and shake properly.",
+    "Catch the bottle with brown body and white top and shake it instantly.",
+    "Use the right arm to pick and shake the bottle with white cap.",
+    "Grab the bottle with brown body and white top with the right arm and shake.",
+    "Pick up the bottle with dark brown color and shake it.",
+    "Shake the medium plastic bottle after holding it firmly.",
+    "Grab the handheld brown bottle with white lid firmly, shake it, and put it down.",
+    "Lift up the cylindrical bottle with narrow neck using the right arm, then shake.",
+    "Grab the handheld brown bottle with white lid and give it a shake.",
+    "Use the right arm to lift and shake the plastic bottle for liquids.",
+    "Hold and shake the the medium bottle with smooth texture carefully.",
+    "Use the right arm to lift and shake the rounded bottle with printed details.",
+    "Grab the cylindrical bottle with narrow neck and shake it steadily.",
+    "Pick the handheld brown bottle with white lid up with the right arm and shake."
+  ],
+  "unseen": [
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick up the lightweight plastic brown bottle with the right arm and shake.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Grab the brown bottle and shake it.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Shake the lightweight plastic brown bottle after picking it with the right arm.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Use the right arm to pick the brown cylindrical bottle with label.",
+    "Use the right arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick up the lightweight plastic brown bottle with the right arm and shake.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Use the right arm to pick the brown cylindrical bottle with label.",
+    "Use the right arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Grab the brown bottle and shake it.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Use the right arm to pick the brown bottle.",
+    "Use the right arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Grab the brown bottle and shake it.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Use the right arm to pick the brown bottle.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Grab the brown bottle and shake it.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Use the right arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "Shake the lightweight plastic brown bottle after picking it with the right arm.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Grab the brown bottle and shake it.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Use the right arm to pick the brown cylindrical bottle with label.",
+    "Use the right arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "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.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Use the right arm to pick the brown cylindrical bottle with label.",
+    "Use the right arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Grab the lightweight plastic brown bottle and shake it."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001320.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the medium bottle for beverages after grabbing it.",
+    "Pick the plastic bottle up with the right arm and shake.",
+    "Shake the bottle with blue cap after grabbing it.",
+    "Secure the white bottle with blue accents and perform a shake.",
+    "Grab the white bottle with blue accents carefully and shake.",
+    "Use the right arm to grab the plastic bottle and shake it.",
+    "Take the white bottle with blue accents using the right arm and give it a shake.",
+    "Use the right arm to pick and shake the handheld bottle.",
+    "Pick the white bottle with blue accents and perform shaking motion.",
+    "Use the right arm to hold the blue bottle and shake it.",
+    "Shake the bottle with blue cap after holding it firmly.",
+    "Pick up the cylindrical bottle and shake it well.",
+    "Shake the bottle with blue cap after lifting it.",
+    "Lift up the smooth plastic bottle using the right arm, then shake.",
+    "Grip the medium bottle for beverages using the right arm and shake.",
+    "Hold and shake the the white bottle with blue accents carefully.",
+    "Lift the white and blue bottle with the right arm and shake it.",
+    "Use the right arm to lift and shake the handheld bottle.",
+    "Pick the bottle for liquids, shake it with the right arm.",
+    "Secure the white and blue bottle, shake it, and place it down.",
+    "Catch the blue bottle and shake it instantly.",
+    "Using the right arm, shake the bottle with blue cap and then place it back.",
+    "Pick up the medium bottle for beverages and shake it.",
+    "Hold the bottle with blue cap and shake it properly.",
+    "Grab the blue bottle with the right arm and shake.",
+    "Lift the blue bottle with the right arm and give it a shake.",
+    "Shake the cylindrical bottle thoroughly after grabbing it.",
+    "Grab the blue bottle with label firmly, shake it, and put it down.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Grab the white bottle with blue accents using the right arm, then shake.",
+    "Shake the plastic bottle firmly after grabbing.",
+    "Grab the blue bottle with label and shake it steadily.",
+    "Shake the cylindrical bottle after grabbing it.",
+    "Shake the bottle with blue cap using the right arm after grabbing.",
+    "Hold the white bottle with blue accents with the right arm and shake lightly.",
+    "Use the right arm to lift and shake the bottle for liquids.",
+    "Shake the the medium bottle for beverages properly after lifting.",
+    "With the right arm, pick the white and blue bottle and shake properly.",
+    "Use the right arm to grab the medium-sized bottle and shake properly.",
+    "Pick the white bottle with blue accents up using the right arm and shake it.",
+    "Lift the bottle for liquids with the right arm and shake.",
+    "Grab the medium-sized bottle and give it a shake.",
+    "Grasp the cylindrical bottle with the right arm and shake it.",
+    "Lift the cylindrical bottle and shake it gently.",
+    "Utilize the right arm to hold the cylindrical bottle and shake it.",
+    "Hold the plastic bottle steady, then shake it.",
+    "Lift the bottle for liquids and shake it thoroughly.",
+    "Grab and shake the bottle for liquids using the right arm.",
+    "Hold the smooth plastic bottle, shake it briefly.",
+    "Grab the white bottle with blue accents and move it to shake.",
+    "Shake the white and blue bottle after grabbing it.",
+    "Pick the plastic bottle up with the right arm and shake.",
+    "Shake the white and blue bottle after grabbing it.",
+    "Secure the white and blue bottle and perform a shake.",
+    "Grab the bottle for liquids carefully and shake.",
+    "Use the right arm to grab the medium bottle for beverages and shake it.",
+    "Take the bottle with blue cap using the right arm and give it a shake.",
+    "Use the right arm to pick and shake the bottle for liquids.",
+    "Pick the plastic bottle and perform shaking motion.",
+    "Use the right arm to hold the medium-sized bottle and shake it.",
+    "Shake the handheld bottle after holding it firmly.",
+    "Pick up the medium bottle for beverages and shake it well.",
+    "Shake the blue bottle after lifting it.",
+    "Lift up the plastic bottle using the right arm, then shake.",
+    "Grip the medium bottle for beverages using the right arm and shake.",
+    "Hold and shake the the smooth plastic bottle carefully.",
+    "Lift the medium bottle for beverages with the right arm and shake it.",
+    "Use the right arm to lift and shake the white and blue bottle.",
+    "Pick the white bottle with blue accents, shake it with the right arm.",
+    "Secure the handheld bottle, shake it, and place it down.",
+    "Catch the smooth plastic bottle and shake it instantly.",
+    "Using the right arm, shake the cylindrical bottle and then place it back.",
+    "Pick up the white bottle with blue accents and shake it.",
+    "Hold the white bottle with blue accents and shake it properly.",
+    "Grab the handheld bottle with the right arm and shake.",
+    "Lift the bottle for liquids with the right arm and give it a shake.",
+    "Shake the cylindrical bottle thoroughly after grabbing it.",
+    "Grab the smooth plastic bottle firmly, shake it, and put it down.",
+    "Use the right arm to lift and shake the smooth plastic bottle.",
+    "Grab the smooth plastic bottle using the right arm, then shake.",
+    "Shake the white bottle with blue accents firmly after grabbing.",
+    "Grab the medium-sized bottle and shake it steadily.",
+    "Shake the plastic bottle after grabbing it.",
+    "Shake the bottle for liquids using the right arm after grabbing.",
+    "Hold the smooth plastic bottle with the right arm and shake lightly.",
+    "Use the right arm to lift and shake the white bottle with blue accents.",
+    "Shake the the smooth plastic bottle properly after lifting.",
+    "With the right arm, pick the handheld bottle and shake properly.",
+    "Use the right arm to grab the white and blue bottle and shake properly.",
+    "Pick the bottle for liquids up using the right arm and shake it.",
+    "Lift the plastic bottle with the right arm and shake.",
+    "Grab the medium bottle for beverages and give it a shake.",
+    "Grasp the medium bottle for beverages with the right arm and shake it.",
+    "Lift the cylindrical bottle and shake it gently.",
+    "Utilize the right arm to hold the blue bottle with label and shake it.",
+    "Hold the handheld bottle steady, then shake it.",
+    "Lift the blue bottle and shake it thoroughly.",
+    "Grab and shake the handheld bottle using the right arm.",
+    "Hold the bottle with blue cap, shake it briefly.",
+    "Grab the bottle for liquids and move it to shake."
+  ],
+  "unseen": [
+    "Shake the bottle with curved neck design after picking it with the right arm.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Grab the bottle with curved neck design and shake it.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Pick and shake the the bottle with curved neck design with the right arm.",
+    "Use the right arm to grab the blue-capped plastic bottle and shake.",
+    "Pick up the blue-capped plastic bottle with the right arm and shake.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Use the right arm to pick the bottle with ridged neck.",
+    "Shake the bottle with ridged neck after picking it with the right arm.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Grab the bottle with curved neck design and shake it.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Grab the bottle with ridged neck, shake it properly, then set it down.",
+    "Pick and shake the the blue-capped plastic bottle with the right arm.",
+    "Use the right arm to grab the bottle with ridged neck and shake.",
+    "Pick up the blue-capped plastic bottle with the right arm and shake.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Use the right arm to pick the bottle with curved neck design.",
+    "Shake the blue-capped plastic bottle after picking it with the right arm.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Grab the bottle with ridged neck, shake it properly, then set it down.",
+    "Pick and shake the the bottle with curved neck design with the right arm.",
+    "Use the right arm to grab the bottle with curved neck design and shake.",
+    "Pick up the blue-capped plastic bottle with the right arm and shake.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Use the right arm to pick the bottle with ridged neck.",
+    "Shake the bottle with ridged neck after picking it with the right arm.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Pick and shake the the blue-capped plastic bottle with the right arm.",
+    "Use the right arm to grab the bottle with ridged neck and shake.",
+    "Pick up the blue-capped plastic bottle with the right arm and shake.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Use the right arm to pick the bottle with curved neck design.",
+    "Shake the bottle with ridged neck after picking it with the right arm.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Grab the blue-capped plastic bottle, shake it properly, then set it down.",
+    "Pick and shake the the bottle with ridged neck with the right arm.",
+    "Use the right arm to grab the blue-capped plastic bottle and shake.",
+    "Pick up the bottle with ridged neck with the right arm and shake.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Use the right arm to pick the blue-capped plastic bottle.",
+    "Shake the bottle with curved neck design after picking it with the right arm.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Grab the bottle with curved neck design and shake it.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Grab the bottle with ridged neck, shake it properly, then set it down.",
+    "Pick and shake the the blue-capped plastic bottle with the right arm.",
+    "Use the right arm to grab the bottle with ridged neck and shake.",
+    "Pick up the blue-capped plastic bottle with the right arm and shake.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Use the right arm to pick the bottle with curved neck design.",
+    "Shake the bottle with ridged neck after picking it with the right arm.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Grab the bottle with ridged neck, shake it properly, then set it down.",
+    "Pick and shake the the bottle with curved neck design with the right arm.",
+    "Use the right arm to grab the blue-capped plastic bottle and shake.",
+    "Pick up the bottle with curved neck design with the right arm and shake.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Use the right arm to pick the bottle with ridged neck.",
+    "Shake the blue-capped plastic bottle after picking it with the right arm.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Grab the bottle with curved neck design and shake it.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Grab the blue-capped plastic bottle, shake it properly, then set it down.",
+    "Pick and shake the the bottle with ridged neck with the right arm.",
+    "Use the right arm to grab the bottle with curved neck design and shake.",
+    "Pick up the bottle with curved neck design with the right arm and shake.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Use the right arm to pick the bottle with curved neck design.",
+    "Shake the blue-capped plastic bottle after picking it with the right arm.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Grab the blue-capped plastic bottle, shake it properly, then set it down.",
+    "Pick and shake the the blue-capped plastic bottle with the right arm.",
+    "Use the right arm to grab the bottle with ridged neck and shake.",
+    "Pick up the blue-capped plastic bottle with the right arm and shake.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Use the right arm to pick the bottle with curved neck design.",
+    "Shake the bottle with ridged neck after picking it with the right arm.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Grab the blue-capped plastic bottle, shake it properly, then set it down.",
+    "Pick and shake the the bottle with curved neck design with the right arm.",
+    "Use the right arm to grab the bottle with ridged neck and shake.",
+    "Pick up the bottle with ridged neck with the right arm and shake.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Use the right arm to pick the blue-capped plastic bottle."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001334.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Utilize the right arm to hold the bottle with blue and yellow print and shake it.",
+    "Shake the black cylindrical bottle with ridges after grabbing it.",
+    "Use the right arm to lift and shake the drink bottle with rounded yellow lid.",
+    "Grab the yellow capped drink bottle firmly, shake it, and put it down.",
+    "Lift the black cylindrical bottle with ridges with the right arm and give it a shake.",
+    "Use the right arm to grab the smooth black bottle with ridges and shake it.",
+    "Catch the black bottle and shake it instantly.",
+    "Hold the bottle with blue and yellow print and shake it properly.",
+    "Lift the plastic bottle with colorful label with the right arm and shake it.",
+    "Shake the black bottle using the right arm after grabbing.",
+    "Use the right arm to pick and shake the plastic bottle with colorful label.",
+    "Using the right arm, shake the smooth black bottle with ridges and then place it back.",
+    "Grab the smooth black bottle with ridges and move it to shake.",
+    "Pick the bottle with blue and yellow print and perform shaking motion.",
+    "Shake the yellow-capped cylindrical bottle after holding it firmly.",
+    "Grab the smooth black bottle with ridges and shake it steadily.",
+    "With the right arm, pick the bottle with blue and yellow print and shake properly.",
+    "Grab the medium bottle with yellow cap carefully and shake.",
+    "Pick the black plastic bottle with Pepsi logo up with the right arm and shake.",
+    "Shake the plastic bottle with colorful label firmly after grabbing.",
+    "Hold the bottle with blue and yellow print with the right arm and shake lightly.",
+    "Grab the black plastic bottle with Pepsi logo using the right arm, then shake.",
+    "Grab and shake the bottle with blue and yellow print using the right arm.",
+    "Shake the smooth black bottle with ridges thoroughly after grabbing it.",
+    "Pick the black bottle up using the right arm and shake it.",
+    "Hold the drink bottle with rounded yellow lid steady, then shake it.",
+    "Pick the black plastic bottle with Pepsi logo, shake it with the right arm.",
+    "Shake the medium bottle with yellow cap after lifting it.",
+    "Hold the black plastic bottle with Pepsi logo, shake it briefly.",
+    "Take the medium bottle with yellow cap using the right arm and give it a shake.",
+    "Pick up the yellow-capped cylindrical bottle and shake it.",
+    "Use the right arm to hold the drink bottle with rounded yellow lid and shake it.",
+    "Grasp the plastic bottle with colorful label with the right arm and shake it.",
+    "Secure the yellow capped drink bottle and perform a shake.",
+    "Shake the the yellow-capped cylindrical bottle properly after lifting.",
+    "Pick up the yellow capped drink bottle and shake it well.",
+    "Use the right arm to grab the beverage bottle with black body and shake properly.",
+    "Lift the black cylindrical bottle with ridges and shake it thoroughly.",
+    "Grab the black cylindrical bottle with ridges and give it a shake.",
+    "Use the right arm to lift and shake the beverage bottle with black body.",
+    "Grab the black bottle with the right arm and shake.",
+    "Lift the black plastic bottle with Pepsi logo with the right arm and shake.",
+    "Lift the drink bottle with rounded yellow lid and shake it gently.",
+    "Hold and shake the the plastic bottle with colorful label carefully.",
+    "Grip the smooth black bottle with ridges using the right arm and shake.",
+    "Shake the smooth black bottle with ridges after grabbing it.",
+    "Lift up the yellow capped drink bottle using the right arm, then shake.",
+    "Shake the smooth black bottle with ridges after grabbing it.",
+    "Use the right arm to lift and shake the bottle with blue and yellow print.",
+    "Secure the yellow capped drink bottle, shake it, and place it down.",
+    "Utilize the right arm to hold the bottle with blue and yellow print and shake it.",
+    "Shake the black bottle after grabbing it.",
+    "Use the right arm to lift and shake the black plastic bottle with Pepsi logo.",
+    "Grab the plastic bottle with colorful label firmly, shake it, and put it down.",
+    "Lift the plastic bottle with colorful label with the right arm and give it a shake.",
+    "Use the right arm to grab the beverage bottle with black body and shake it.",
+    "Catch the black bottle and shake it instantly.",
+    "Hold the black plastic bottle with Pepsi logo and shake it properly.",
+    "Lift the smooth black bottle with ridges with the right arm and shake it.",
+    "Shake the medium black bottle with printed label using the right arm after grabbing.",
+    "Use the right arm to pick and shake the bottle with blue and yellow print.",
+    "Using the right arm, shake the black bottle and then place it back.",
+    "Grab the black plastic bottle with Pepsi logo and move it to shake.",
+    "Pick the black bottle and perform shaking motion.",
+    "Shake the beverage bottle with black body after holding it firmly.",
+    "Grab the beverage bottle with black body and shake it steadily.",
+    "With the right arm, pick the bottle with blue and yellow print and shake properly.",
+    "Grab the smooth black bottle with ridges carefully and shake.",
+    "Pick the medium bottle with yellow cap up with the right arm and shake.",
+    "Shake the yellow capped drink bottle firmly after grabbing.",
+    "Hold the yellow capped drink bottle with the right arm and shake lightly.",
+    "Grab the yellow-capped cylindrical bottle using the right arm, then shake.",
+    "Grab and shake the black plastic bottle with Pepsi logo using the right arm.",
+    "Shake the drink bottle with rounded yellow lid thoroughly after grabbing it.",
+    "Pick the plastic bottle with colorful label up using the right arm and shake it.",
+    "Hold the bottle with blue and yellow print steady, then shake it.",
+    "Pick the smooth black bottle with ridges, shake it with the right arm.",
+    "Shake the black plastic bottle with Pepsi logo after lifting it.",
+    "Hold the medium black bottle with printed label, shake it briefly.",
+    "Take the drink bottle with rounded yellow lid using the right arm and give it a shake.",
+    "Pick up the black bottle and shake it.",
+    "Use the right arm to hold the plastic bottle with colorful label and shake it.",
+    "Grasp the medium bottle with yellow cap with the right arm and shake it.",
+    "Secure the medium bottle with yellow cap and perform a shake.",
+    "Shake the the black cylindrical bottle with ridges properly after lifting.",
+    "Pick up the black bottle and shake it well.",
+    "Use the right arm to grab the beverage bottle with black body and shake properly.",
+    "Lift the yellow capped drink bottle and shake it thoroughly.",
+    "Grab the black cylindrical bottle with ridges and give it a shake.",
+    "Use the right arm to lift and shake the yellow capped drink bottle.",
+    "Grab the yellow-capped cylindrical bottle with the right arm and shake.",
+    "Lift the drink bottle with rounded yellow lid with the right arm and shake.",
+    "Lift the black bottle and shake it gently.",
+    "Hold and shake the the plastic bottle with colorful label carefully.",
+    "Grip the black bottle using the right arm and shake.",
+    "Shake the smooth black bottle with ridges after grabbing it.",
+    "Lift up the beverage bottle with black body using the right arm, then shake.",
+    "Shake the smooth black bottle with ridges after grabbing it.",
+    "Use the right arm to lift and shake the black cylindrical bottle with ridges.",
+    "Secure the drink bottle with rounded yellow lid, shake it, and place it down."
+  ],
+  "unseen": [
+    "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Grab the bottle with ridges near base and shake it.",
+    "Shake the plastic bottle with blue label after picking it with the right arm.",
+    "Use the right arm to pick the hand-sized bottle with ridged bottom.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the right arm to grab the bottle with ridges near base and shake.",
+    "Grab the bottle with ridges near base and shake it.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.",
+    "Use the right arm to pick the bottle with ridges near base.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Pick up the bottle with ridges near base with the right arm and shake.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Pick and shake the the bottle with ridges near base with the right arm.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the right arm to grab the plastic bottle with blue label and shake.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Shake the plastic bottle with blue label after picking it with the right arm.",
+    "Use the right arm to pick the plastic bottle with blue label.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Pick up the plastic bottle with blue label with the right arm and shake.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Pick and shake the the bottle with ridges near base with the right arm.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Use the right arm to grab the bottle with ridges near base and shake.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Shake the plastic bottle with blue label after picking it with the right arm.",
+    "Use the right arm to pick the hand-sized bottle with ridged bottom.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Pick up the bottle with ridges near base with the right arm and shake.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Pick and shake the the bottle with ridges near base with the right arm.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Grab the bottle with ridges near base and shake it.",
+    "Shake the bottle with ridges near base after picking it with the right arm.",
+    "Use the right arm to pick the bottle with ridges near base.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Pick up the bottle with ridges near base with the right arm and shake.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Pick and shake the the bottle with ridges near base with the right arm.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the right arm to grab the plastic bottle with blue label and shake.",
+    "Grab the bottle with ridges near base and shake it.",
+    "Shake the plastic bottle with blue label after picking it with the right arm.",
+    "Use the right arm to pick the hand-sized bottle with ridged bottom.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Pick up the bottle with ridges near base with the right arm and shake.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick and shake the the plastic bottle with blue label with the right arm.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Use the right arm to grab the bottle with ridges near base and shake.",
+    "Grab the bottle with ridges near base and shake it.",
+    "Shake the plastic bottle with blue label after picking it with the right arm.",
+    "Use the right arm to pick the hand-sized bottle with ridged bottom.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Pick up the plastic bottle with blue label with the right arm and shake.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Use the right arm to grab the bottle with ridges near base and shake.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Shake the plastic bottle with blue label after picking it with the right arm.",
+    "Use the right arm to pick the hand-sized bottle with ridged bottom.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Pick and shake the the bottle with ridges near base with the right arm.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Use the right arm to grab the bottle with ridges near base and shake.",
+    "Grab the bottle with ridges near base and shake it.",
+    "Shake the bottle with ridges near base after picking it with the right arm.",
+    "Use the right arm to pick the bottle with ridges near base.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Pick up the bottle with ridges near base with the right arm and shake.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Pick and shake the the plastic bottle with blue label with the right arm.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Shake the plastic bottle with blue label after picking it with the right arm.",
+    "Use the right arm to pick the bottle with ridges near base.",
+    "Grab the bottle with ridges near base and give it a shake."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001336.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold and shake the the bottle with ridges on bottom carefully.",
+    "Grasp the brown bottle with red label with the right arm and shake it.",
+    "Grab the bottle with white neck and red top firmly, shake it, and put it down.",
+    "Hold the bottle with white neck and red top and shake it properly.",
+    "Shake the brown bottle with red label after grabbing it.",
+    "Grab the Coca-Cola bottle using the right arm, then shake.",
+    "Secure the medium dark brown bottle and perform a shake.",
+    "Utilize the right arm to hold the narrow-necked bottle and shake it.",
+    "Use the right arm to pick and shake the brown bottle with red label.",
+    "Pick the long thin bottle up with the right arm and shake.",
+    "Shake the narrow-necked bottle after grabbing it.",
+    "Shake the plastic drink bottle after grabbing it.",
+    "Use the right arm to lift and shake the plastic drink bottle.",
+    "Use the right arm to grab the Coca-Cola bottle and shake properly.",
+    "Grip the smooth bottle with red lid using the right arm and shake.",
+    "Pick up the red-capped bottle and shake it well.",
+    "Catch the Coca-Cola bottle and shake it instantly.",
+    "Grab and shake the long thin bottle using the right arm.",
+    "Shake the bottle with ridges on bottom using the right arm after grabbing.",
+    "Hold the narrow-necked bottle, shake it briefly.",
+    "Use the right arm to lift and shake the bottle with white neck and red top.",
+    "Use the right arm to hold the dark drink bottle with logo and shake it.",
+    "Lift up the bottle with white neck and red top using the right arm, then shake.",
+    "Shake the red-capped bottle after holding it firmly.",
+    "Pick up the hand-sized soda bottle and shake it.",
+    "Lift the Coca-Cola bottle and shake it thoroughly.",
+    "Shake the the medium dark brown bottle properly after lifting.",
+    "Hold the narrow-necked bottle with the right arm and shake lightly.",
+    "Shake the bottle with white neck and red top thoroughly after grabbing it.",
+    "Shake the smooth bottle with red lid firmly after grabbing.",
+    "Lift the smooth bottle with red lid with the right arm and shake.",
+    "Use the right arm to grab the bottle with white neck and red top and shake it.",
+    "Grab the long thin bottle and give it a shake.",
+    "Lift the bottle with white neck and red top and shake it gently.",
+    "Lift the dark drink bottle with logo with the right arm and give it a shake.",
+    "Take the bottle with ridges on bottom using the right arm and give it a shake.",
+    "Grab the narrow-necked bottle and move it to shake.",
+    "Grab the Coca-Cola bottle and shake it steadily.",
+    "Grab the bottle with ridges on bottom carefully and shake.",
+    "With the right arm, pick the bottle with ridges on bottom and shake properly.",
+    "Pick the medium dark brown bottle up using the right arm and shake it.",
+    "Using the right arm, shake the smooth bottle with red lid and then place it back.",
+    "Shake the Coca-Cola bottle after lifting it.",
+    "Secure the red-capped bottle, shake it, and place it down.",
+    "Pick the red-capped bottle and perform shaking motion.",
+    "Use the right arm to lift and shake the Coca-Cola bottle.",
+    "Hold the medium dark brown bottle steady, then shake it.",
+    "Lift the dark drink bottle with logo with the right arm and shake it.",
+    "Grab the Coca-Cola bottle with the right arm and shake.",
+    "Pick the long thin bottle, shake it with the right arm.",
+    "Hold and shake the the red-capped bottle carefully.",
+    "Grasp the hand-sized soda bottle with the right arm and shake it.",
+    "Grab the long thin bottle firmly, shake it, and put it down.",
+    "Hold the smooth bottle with red lid and shake it properly.",
+    "Shake the red-capped bottle after grabbing it.",
+    "Grab the bottle with white neck and red top using the right arm, then shake.",
+    "Secure the long thin bottle and perform a shake.",
+    "Utilize the right arm to hold the brown bottle with red label and shake it.",
+    "Use the right arm to pick and shake the bottle with white neck and red top.",
+    "Pick the hand-sized soda bottle up with the right arm and shake.",
+    "Shake the bottle with white neck and red top after grabbing it.",
+    "Shake the hand-sized soda bottle after grabbing it.",
+    "Use the right arm to lift and shake the bottle with white neck and red top.",
+    "Use the right arm to grab the bottle with ridges on bottom and shake properly.",
+    "Grip the brown bottle with red label using the right arm and shake.",
+    "Pick up the narrow-necked bottle and shake it well.",
+    "Catch the long thin bottle and shake it instantly.",
+    "Grab and shake the smooth bottle with red lid using the right arm.",
+    "Shake the red-capped bottle using the right arm after grabbing.",
+    "Hold the long thin bottle, shake it briefly.",
+    "Use the right arm to lift and shake the red-capped bottle.",
+    "Use the right arm to hold the medium dark brown bottle and shake it.",
+    "Lift up the brown bottle with red label using the right arm, then shake.",
+    "Shake the dark drink bottle with logo after holding it firmly.",
+    "Pick up the smooth bottle with red lid and shake it.",
+    "Lift the Coca-Cola bottle and shake it thoroughly.",
+    "Shake the the dark drink bottle with logo properly after lifting.",
+    "Hold the smooth bottle with red lid with the right arm and shake lightly.",
+    "Shake the hand-sized soda bottle thoroughly after grabbing it.",
+    "Shake the brown bottle with red label firmly after grabbing.",
+    "Lift the brown bottle with red label with the right arm and shake.",
+    "Use the right arm to grab the medium dark brown bottle and shake it.",
+    "Grab the dark drink bottle with logo and give it a shake.",
+    "Lift the dark drink bottle with logo and shake it gently.",
+    "Lift the dark drink bottle with logo with the right arm and give it a shake.",
+    "Take the red-capped bottle using the right arm and give it a shake.",
+    "Grab the brown bottle with red label and move it to shake.",
+    "Grab the hand-sized soda bottle and shake it steadily.",
+    "Grab the red-capped bottle carefully and shake.",
+    "With the right arm, pick the bottle with ridges on bottom and shake properly.",
+    "Pick the brown bottle with red label up using the right arm and shake it.",
+    "Using the right arm, shake the narrow-necked bottle and then place it back.",
+    "Shake the red-capped bottle after lifting it.",
+    "Secure the red-capped bottle, shake it, and place it down.",
+    "Pick the brown bottle with red label and perform shaking motion.",
+    "Use the right arm to lift and shake the bottle with white neck and red top.",
+    "Hold the dark drink bottle with logo steady, then shake it.",
+    "Lift the Coca-Cola bottle with the right arm and shake it.",
+    "Grab the bottle with white neck and red top with the right arm and shake.",
+    "Pick the smooth bottle with red lid, shake it with the right arm."
+  ],
+  "unseen": [
+    "Pick up the bottle with red screw cap with the right arm and shake.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Pick and shake the the bottle with red screw cap with the right arm.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Shake the bottle with red screw cap after picking it with the right arm.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Grab the brown bottle and give it a shake.",
+    "Use the right arm to pick the plastic soda bottle.",
+    "Use the right arm to grab the plastic soda bottle and shake.",
+    "Pick up the bottle with red screw cap with the right arm and shake.",
+    "Grab the plastic soda bottle and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Pick and shake the the plastic soda bottle with the right arm.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Shake the plastic soda bottle after picking it with the right arm.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Grab the brown bottle and give it a shake.",
+    "Use the right arm to pick the plastic soda bottle.",
+    "Use the right arm to grab the plastic soda bottle and shake.",
+    "Pick up the plastic soda bottle with the right arm and shake.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Pick and shake the the bottle with red screw cap with the right arm.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Shake the plastic soda bottle after picking it with the right arm.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Use the right arm to pick the brown bottle.",
+    "Use the right arm to grab the plastic soda bottle and shake.",
+    "Pick up the bottle with red screw cap with the right arm and shake.",
+    "Grab the brown bottle and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Pick and shake the the bottle with red screw cap with the right arm.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Shake the bottle with red screw cap after picking it with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Use the right arm to pick the bottle with red screw cap.",
+    "Use the right arm to grab the plastic soda bottle and shake.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Grab the brown bottle and shake it.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Shake the bottle with red screw cap after picking it with the right arm.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Use the right arm to pick the brown bottle.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Pick up the plastic soda bottle with the right arm and shake.",
+    "Grab the brown bottle and shake it.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Pick and shake the the bottle with red screw cap with the right arm.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Shake the bottle with red screw cap after picking it with the right arm.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Grab the brown bottle and give it a shake.",
+    "Use the right arm to pick the plastic soda bottle.",
+    "Use the right arm to grab the plastic soda bottle and shake.",
+    "Pick up the plastic soda bottle with the right arm and shake.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Pick and shake the the bottle with red screw cap with the right arm.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Shake the plastic soda bottle after picking it with the right arm.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Use the right arm to pick the brown bottle.",
+    "Use the right arm to grab the plastic soda bottle and shake.",
+    "Pick up the plastic soda bottle with the right arm and shake.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Pick and shake the the bottle with red screw cap with the right arm.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Use the right arm to pick the plastic soda bottle.",
+    "Use the right arm to grab the plastic soda bottle and shake.",
+    "Pick up the plastic soda bottle with the right arm and shake.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Shake the plastic soda bottle after picking it with the right arm.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Use the right arm to pick the brown bottle.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Pick up the bottle with red screw cap with the right arm and shake.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Pick and shake the the plastic soda bottle with the right arm.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Shake the plastic soda bottle after picking it with the right arm.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Grab the brown bottle and give it a shake.",
+    "Use the right arm to pick the brown bottle.",
+    "Use the right arm to grab the brown bottle and shake."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001341.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to lift and shake the light gray colored container bottle.",
+    "Use the right arm to lift and shake the hand-sized bottle with screw cap.",
+    "Hold the bottle shaped like small cylinder, shake it briefly.",
+    "Grab the bottle shaped like small cylinder firmly, shake it, and put it down.",
+    "Shake the smooth surface bottle with gray shade using the right arm after grabbing.",
+    "Use the right arm to hold the plastic bottle with ghost print and shake it.",
+    "Secure the light gray colored container bottle, shake it, and place it down.",
+    "Hold the gray bottle with slight shine steady, then shake it.",
+    "Shake the gray bottle with slight shine after lifting it.",
+    "Pick up the plastic bottle with ghost print and shake it well.",
+    "Pick the smooth cylindrical bottle up with the right arm and shake.",
+    "Grip the bottle shaped like small cylinder using the right arm and shake.",
+    "Use the right arm to grab the milk-bottle shape design and shake it.",
+    "Shake the rounded body bottle made of plastic firmly after grabbing.",
+    "Lift the milk-bottle shape design with the right arm and give it a shake.",
+    "Lift the medium cylinder-shaped bottle with the right arm and shake.",
+    "Hold and shake the the smooth cylindrical bottle carefully.",
+    "Grab the light gray colored container bottle and shake it steadily.",
+    "Hold the smooth surface bottle with gray shade and shake it properly.",
+    "Grab the medium-sized plastic bottle using the right arm, then shake.",
+    "Pick up the medium-sized plastic bottle and shake it.",
+    "Lift the medium cylinder-shaped bottle and shake it thoroughly.",
+    "Shake the rounded body bottle made of plastic after grabbing it.",
+    "Take the milk-bottle shape design using the right arm and give it a shake.",
+    "Lift the medium cylinder-shaped bottle with the right arm and shake it.",
+    "Grab the medium-sized plastic bottle and give it a shake.",
+    "Pick the bottle shaped like small cylinder and perform shaking motion.",
+    "Shake the medium cylinder-shaped bottle after grabbing it.",
+    "Pick the smooth surface bottle with gray shade up using the right arm and shake it.",
+    "With the right arm, pick the bottle shaped like small cylinder and shake properly.",
+    "Lift up the medium-sized plastic bottle using the right arm, then shake.",
+    "Utilize the right arm to hold the milk-bottle shape design and shake it.",
+    "Use the right arm to pick and shake the gray bottle with slight shine.",
+    "Catch the bottle shaped like small cylinder and shake it instantly.",
+    "Grab the gray bottle with slight shine with the right arm and shake.",
+    "Shake the bottle shaped like small cylinder after holding it firmly.",
+    "Grab and shake the smooth surface bottle with gray shade using the right arm.",
+    "Lift the smooth surface bottle with gray shade and shake it gently.",
+    "Shake the gray bottle with slight shine after grabbing it.",
+    "Use the right arm to grab the hand-sized bottle with screw cap and shake properly.",
+    "Secure the plastic bottle with ghost print and perform a shake.",
+    "Shake the the medium-sized plastic bottle properly after lifting.",
+    "Grab the smooth cylindrical bottle carefully and shake.",
+    "Grab the medium-sized plastic bottle and move it to shake.",
+    "Hold the bottle with cute ghost drawing with the right arm and shake lightly.",
+    "Use the right arm to lift and shake the smooth surface bottle with gray shade.",
+    "Pick the plastic bottle with ghost print, shake it with the right arm.",
+    "Grasp the smooth surface bottle with gray shade with the right arm and shake it.",
+    "Shake the milk-bottle shape design thoroughly after grabbing it.",
+    "Using the right arm, shake the light gray colored container bottle and then place it back.",
+    "Use the right arm to lift and shake the medium cylinder-shaped bottle.",
+    "Use the right arm to lift and shake the smooth surface bottle with gray shade.",
+    "Hold the plastic bottle with ghost print, shake it briefly.",
+    "Grab the smooth cylindrical bottle firmly, shake it, and put it down.",
+    "Shake the light gray colored container bottle using the right arm after grabbing.",
+    "Use the right arm to hold the light gray colored container bottle and shake it.",
+    "Secure the hand-sized bottle with screw cap, shake it, and place it down.",
+    "Hold the hand-sized bottle with screw cap steady, then shake it.",
+    "Shake the plastic bottle with ghost print after lifting it.",
+    "Pick up the hand-sized bottle with screw cap and shake it well.",
+    "Pick the medium cylinder-shaped bottle up with the right arm and shake.",
+    "Grip the rounded body bottle made of plastic using the right arm and shake.",
+    "Use the right arm to grab the light gray colored container bottle and shake it.",
+    "Shake the hand-sized bottle with screw cap firmly after grabbing.",
+    "Lift the bottle shaped like small cylinder with the right arm and give it a shake.",
+    "Lift the plastic bottle with ghost print with the right arm and shake.",
+    "Hold and shake the the medium-sized plastic bottle carefully.",
+    "Grab the hand-sized bottle with screw cap and shake it steadily.",
+    "Hold the smooth cylindrical bottle and shake it properly.",
+    "Grab the light gray colored container bottle using the right arm, then shake.",
+    "Pick up the bottle with cute ghost drawing and shake it.",
+    "Lift the rounded body bottle made of plastic and shake it thoroughly.",
+    "Shake the plastic bottle with ghost print after grabbing it.",
+    "Take the gray bottle with slight shine using the right arm and give it a shake.",
+    "Lift the gray bottle with slight shine with the right arm and shake it.",
+    "Grab the gray bottle with slight shine and give it a shake.",
+    "Pick the rounded body bottle made of plastic and perform shaking motion.",
+    "Shake the gray bottle with slight shine after grabbing it.",
+    "Pick the smooth surface bottle with gray shade up using the right arm and shake it.",
+    "With the right arm, pick the rounded body bottle made of plastic and shake properly.",
+    "Lift up the gray bottle with slight shine using the right arm, then shake.",
+    "Utilize the right arm to hold the medium cylinder-shaped bottle and shake it.",
+    "Use the right arm to pick and shake the smooth cylindrical bottle.",
+    "Catch the bottle with cute ghost drawing and shake it instantly.",
+    "Grab the bottle shaped like small cylinder with the right arm and shake.",
+    "Shake the medium-sized plastic bottle after holding it firmly.",
+    "Grab and shake the medium-sized plastic bottle using the right arm.",
+    "Lift the medium cylinder-shaped bottle and shake it gently.",
+    "Shake the plastic bottle with ghost print after grabbing it.",
+    "Use the right arm to grab the medium cylinder-shaped bottle and shake properly.",
+    "Secure the bottle with cute ghost drawing and perform a shake.",
+    "Shake the the plastic bottle with ghost print properly after lifting.",
+    "Grab the hand-sized bottle with screw cap carefully and shake.",
+    "Grab the smooth surface bottle with gray shade and move it to shake.",
+    "Hold the plastic bottle with ghost print with the right arm and shake lightly.",
+    "Use the right arm to lift and shake the smooth cylindrical bottle.",
+    "Pick the bottle shaped like small cylinder, shake it with the right arm.",
+    "Grasp the milk-bottle shape design with the right arm and shake it.",
+    "Shake the rounded body bottle made of plastic thoroughly after grabbing it.",
+    "Using the right arm, shake the smooth surface bottle with gray shade and then place it back."
+  ],
+  "unseen": [
+    "Pick up the light gray bottle and shake it.",
+    "Pick up the gray bottle for holding drinks with the right arm and shake.",
+    "Pick and shake the the gray bottle for holding drinks with the right arm.",
+    "Use the right arm to pick the bottle with rounded cap top.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Grab the light gray bottle and give it a shake.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Pick up the light gray bottle and shake it.",
+    "Shake the light gray bottle after picking it with the right arm.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Pick up the light gray bottle with the right arm and shake.",
+    "Pick and shake the the gray bottle for holding drinks with the right arm.",
+    "Use the right arm to pick the bottle with rounded cap top.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Pick up the light gray bottle and shake it.",
+    "Shake the gray bottle for holding drinks after picking it with the right arm.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Pick up the light gray bottle and shake it.",
+    "Pick up the light gray bottle with the right arm and shake.",
+    "Pick and shake the the bottle with rounded cap top with the right arm.",
+    "Use the right arm to pick the gray bottle for holding drinks.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Grab the light gray bottle and give it a shake.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Shake the bottle with rounded cap top after picking it with the right arm.",
+    "Use the right arm to grab the bottle with rounded cap top and shake.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Pick up the bottle with rounded cap top with the right arm and shake.",
+    "Pick and shake the the bottle with rounded cap top with the right arm.",
+    "Use the right arm to pick the gray bottle for holding drinks.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Grab the light gray bottle and give it a shake.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Shake the bottle with rounded cap top after picking it with the right arm.",
+    "Use the right arm to grab the bottle with rounded cap top and shake.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Pick up the gray bottle for holding drinks with the right arm and shake.",
+    "Pick and shake the the light gray bottle with the right arm.",
+    "Use the right arm to pick the gray bottle for holding drinks.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Grab the light gray bottle and give it a shake.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Shake the bottle with rounded cap top after picking it with the right arm.",
+    "Use the right arm to grab the bottle with rounded cap top and shake.",
+    "Pick up the light gray bottle and shake it.",
+    "Pick up the bottle with rounded cap top with the right arm and shake.",
+    "Pick and shake the the gray bottle for holding drinks with the right arm.",
+    "Use the right arm to pick the bottle with rounded cap top.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Shake the gray bottle for holding drinks after picking it with the right arm.",
+    "Use the right arm to grab the light gray bottle and shake.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Pick up the light gray bottle with the right arm and shake.",
+    "Pick and shake the the light gray bottle with the right arm.",
+    "Use the right arm to pick the gray bottle for holding drinks.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Grab the light gray bottle and give it a shake.",
+    "Grab the light gray bottle and shake it.",
+    "Pick up the light gray bottle and shake it.",
+    "Shake the light gray bottle after picking it with the right arm.",
+    "Use the right arm to grab the light gray bottle and shake.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Pick up the light gray bottle with the right arm and shake.",
+    "Pick and shake the the gray bottle for holding drinks with the right arm.",
+    "Use the right arm to pick the bottle with rounded cap top.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Grab the light gray bottle and give it a shake.",
+    "Grab the light gray bottle and shake it.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Shake the gray bottle for holding drinks after picking it with the right arm.",
+    "Use the right arm to grab the bottle with rounded cap top and shake.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Pick up the light gray bottle with the right arm and shake.",
+    "Pick and shake the the light gray bottle with the right arm.",
+    "Use the right arm to pick the gray bottle for holding drinks.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Grab the gray bottle for holding drinks and give it a shake.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Shake the bottle with rounded cap top after picking it with the right arm.",
+    "Use the right arm to grab the light gray bottle and shake.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Pick up the bottle with rounded cap top with the right arm and shake.",
+    "Pick and shake the the light gray bottle with the right arm.",
+    "Use the right arm to pick the light gray bottle.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Shake the gray bottle for holding drinks after picking it with the right arm.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001353.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift up the narrow-necked bottle using the right arm, then shake.",
+    "Pick the plastic drink bottle up with the right arm and shake.",
+    "Utilize the right arm to hold the smooth bottle with red lid and shake it.",
+    "Grab the brown bottle with red label with the right arm and shake.",
+    "Hold the long thin bottle with the right arm and shake lightly.",
+    "Pick the red-capped bottle, shake it with the right arm.",
+    "Use the right arm to hold the red-capped bottle and shake it.",
+    "Shake the bottle with ridges on bottom after grabbing it.",
+    "Lift the hand-sized soda bottle and shake it thoroughly.",
+    "Grab the long thin bottle using the right arm, then shake.",
+    "Use the right arm to lift and shake the medium dark brown bottle.",
+    "Shake the bottle with white neck and red top after grabbing it.",
+    "Catch the narrow-necked bottle and shake it instantly.",
+    "Grab the narrow-necked bottle and move it to shake.",
+    "Grab the red-capped bottle and give it a shake.",
+    "Grab the hand-sized soda bottle carefully and shake.",
+    "Take the dark drink bottle with logo using the right arm and give it a shake.",
+    "Using the right arm, shake the brown bottle with red label and then place it back.",
+    "Grab the medium dark brown bottle and shake it steadily.",
+    "Lift the red-capped bottle and shake it gently.",
+    "Hold the dark drink bottle with logo, shake it briefly.",
+    "Pick up the smooth bottle with red lid and shake it.",
+    "Shake the bottle with white neck and red top firmly after grabbing.",
+    "Shake the smooth bottle with red lid thoroughly after grabbing it.",
+    "With the right arm, pick the red-capped bottle and shake properly.",
+    "Grab the plastic drink bottle firmly, shake it, and put it down.",
+    "Shake the bottle with white neck and red top using the right arm after grabbing.",
+    "Lift the plastic drink bottle with the right arm and shake.",
+    "Lift the narrow-necked bottle with the right arm and shake it.",
+    "Shake the bottle with white neck and red top after holding it firmly.",
+    "Shake the the bottle with ridges on bottom properly after lifting.",
+    "Shake the bottle with ridges on bottom after grabbing it.",
+    "Use the right arm to grab the brown bottle with red label and shake properly.",
+    "Grip the brown bottle with red label using the right arm and shake.",
+    "Hold the red-capped bottle steady, then shake it.",
+    "Shake the hand-sized soda bottle after lifting it.",
+    "Use the right arm to lift and shake the red-capped bottle.",
+    "Pick up the Coca-Cola bottle and shake it well.",
+    "Use the right arm to grab the bottle with ridges on bottom and shake it.",
+    "Use the right arm to pick and shake the narrow-necked bottle.",
+    "Grab and shake the red-capped bottle using the right arm.",
+    "Pick the plastic drink bottle and perform shaking motion.",
+    "Pick the bottle with ridges on bottom up using the right arm and shake it.",
+    "Secure the smooth bottle with red lid, shake it, and place it down.",
+    "Use the right arm to lift and shake the plastic drink bottle.",
+    "Secure the dark drink bottle with logo and perform a shake.",
+    "Hold and shake the the brown bottle with red label carefully.",
+    "Hold the dark drink bottle with logo and shake it properly.",
+    "Grasp the smooth bottle with red lid with the right arm and shake it.",
+    "Lift the medium dark brown bottle with the right arm and give it a shake.",
+    "Lift up the plastic drink bottle using the right arm, then shake.",
+    "Pick the medium dark brown bottle up with the right arm and shake.",
+    "Utilize the right arm to hold the narrow-necked bottle and shake it.",
+    "Grab the Coca-Cola bottle with the right arm and shake.",
+    "Hold the long thin bottle with the right arm and shake lightly.",
+    "Pick the medium dark brown bottle, shake it with the right arm.",
+    "Use the right arm to hold the brown bottle with red label and shake it.",
+    "Shake the dark drink bottle with logo after grabbing it.",
+    "Lift the dark drink bottle with logo and shake it thoroughly.",
+    "Grab the red-capped bottle using the right arm, then shake.",
+    "Use the right arm to lift and shake the Coca-Cola bottle.",
+    "Shake the smooth bottle with red lid after grabbing it.",
+    "Catch the bottle with white neck and red top and shake it instantly.",
+    "Grab the plastic drink bottle and move it to shake.",
+    "Grab the Coca-Cola bottle and give it a shake.",
+    "Grab the bottle with white neck and red top carefully and shake.",
+    "Take the bottle with ridges on bottom using the right arm and give it a shake.",
+    "Using the right arm, shake the bottle with ridges on bottom and then place it back.",
+    "Grab the bottle with ridges on bottom and shake it steadily.",
+    "Lift the hand-sized soda bottle and shake it gently.",
+    "Hold the hand-sized soda bottle, shake it briefly.",
+    "Pick up the narrow-necked bottle and shake it.",
+    "Shake the smooth bottle with red lid firmly after grabbing.",
+    "Shake the Coca-Cola bottle thoroughly after grabbing it.",
+    "With the right arm, pick the bottle with white neck and red top and shake properly.",
+    "Grab the dark drink bottle with logo firmly, shake it, and put it down.",
+    "Shake the brown bottle with red label using the right arm after grabbing.",
+    "Lift the plastic drink bottle with the right arm and shake.",
+    "Lift the medium dark brown bottle with the right arm and shake it.",
+    "Shake the brown bottle with red label after holding it firmly.",
+    "Shake the the red-capped bottle properly after lifting.",
+    "Shake the narrow-necked bottle after grabbing it.",
+    "Use the right arm to grab the bottle with white neck and red top and shake properly.",
+    "Grip the Coca-Cola bottle using the right arm and shake.",
+    "Hold the bottle with ridges on bottom steady, then shake it.",
+    "Shake the plastic drink bottle after lifting it.",
+    "Use the right arm to lift and shake the bottle with white neck and red top.",
+    "Pick up the hand-sized soda bottle and shake it well.",
+    "Use the right arm to grab the bottle with white neck and red top and shake it.",
+    "Use the right arm to pick and shake the smooth bottle with red lid.",
+    "Grab and shake the smooth bottle with red lid using the right arm.",
+    "Pick the plastic drink bottle and perform shaking motion.",
+    "Pick the narrow-necked bottle up using the right arm and shake it.",
+    "Secure the Coca-Cola bottle, shake it, and place it down.",
+    "Use the right arm to lift and shake the brown bottle with red label.",
+    "Secure the Coca-Cola bottle and perform a shake.",
+    "Hold and shake the the brown bottle with red label carefully.",
+    "Hold the smooth bottle with red lid and shake it properly.",
+    "Grasp the long thin bottle with the right arm and shake it.",
+    "Lift the narrow-necked bottle with the right arm and give it a shake."
+  ],
+  "unseen": [
+    "Use the right arm to grab the bottle with red screw cap and shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Pick and shake the the bottle with red screw cap with the right arm.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Use the right arm to pick the brown bottle.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the brown bottle and shake it.",
+    "Use the right 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 right arm and shake.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Shake the bottle with red screw cap after picking it with the right arm.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Use the right arm to pick the brown bottle.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Grab the plastic soda bottle and shake it.",
+    "Use the right arm to grab the bottle with red screw cap and shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Shake the plastic soda bottle after picking it with the right arm.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Grab the brown bottle and give it a shake.",
+    "Use the right arm to pick the bottle with red screw cap.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Grab the brown bottle and shake it.",
+    "Use the right arm to grab the plastic soda bottle and shake.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Pick up the plastic soda bottle with the right arm and shake.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Grab the bottle with red screw cap and give it a shake.",
+    "Use the right arm to pick the brown bottle.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Pick and shake the the bottle with red screw cap with the right arm.",
+    "Grab the brown bottle and give it a shake.",
+    "Use the right arm to pick the bottle with red screw cap.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Use the right arm to grab the plastic soda bottle and shake.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Pick up the plastic soda bottle with the right arm and shake.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Pick and shake the the bottle with red screw cap with the right arm.",
+    "Grab the brown bottle and give it a shake.",
+    "Use the right arm to pick the plastic soda bottle.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Grab the brown bottle and shake it.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Use the right arm to pick the plastic soda bottle.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Grab the brown bottle and shake it.",
+    "Use the right 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 right arm and shake.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Shake the plastic soda bottle after picking it with the right arm.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Use the right arm to pick the brown bottle.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Grab the plastic soda bottle and shake it.",
+    "Use the right arm to grab the plastic soda bottle and shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the plastic soda bottle with the right arm and shake.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Grab the brown bottle and give it a shake.",
+    "Use the right arm to pick the brown bottle.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Grab the plastic soda bottle and shake it.",
+    "Use the right arm to grab the bottle with red screw cap and shake.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Pick up the bottle with red screw cap with the right arm and shake.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Shake the bottle with red screw cap after picking it with the right arm.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Use the right arm to pick the bottle with red screw cap.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Grab the brown bottle and shake it."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001360.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold and shake the the orange bottle carefully.",
+    "Hold the orange bottle with the right arm and shake lightly.",
+    "Utilize the right arm to hold the grooved orange drink bottle and shake it.",
+    "Grab the round-bottom bottle with white cap with the right arm and shake.",
+    "Shake the smooth orange bottle after lifting it.",
+    "Shake the the medium bottle with colorful label properly after lifting.",
+    "Shake the bottle for holding drinks firmly after grabbing.",
+    "Secure the plastic bottle, shake it, and place it down.",
+    "Take the cylindrical orange plastic bottle using the right arm and give it a shake.",
+    "Lift the cylindrical orange plastic bottle with the right arm and shake.",
+    "Lift the curved orange soda bottle and shake it gently.",
+    "Hold the curved orange soda bottle steady, then shake it.",
+    "Grip the medium bottle with colorful label using the right arm and shake.",
+    "Lift the grooved orange drink bottle and shake it thoroughly.",
+    "Shake the cylindrical orange plastic bottle after grabbing it.",
+    "Grasp the smooth orange bottle with the right arm and shake it.",
+    "Grab the plastic bottle using the right arm, then shake.",
+    "Pick the ridged orange bottle with grooves and perform shaking motion.",
+    "Use the right arm to pick and shake the grooved orange drink bottle.",
+    "Secure the plastic bottle and perform a shake.",
+    "Grab the bottle for holding drinks carefully and shake.",
+    "Use the right arm to lift and shake the light and medium-sized bottle.",
+    "Use the right arm to lift and shake the light and medium-sized bottle.",
+    "Hold the smooth orange bottle, shake it briefly.",
+    "Pick up the plastic bottle and shake it.",
+    "Use the right arm to grab the cylindrical orange plastic bottle and shake it.",
+    "Pick the cylindrical orange plastic bottle, shake it with the right arm.",
+    "Use the right arm to hold the bottle for holding drinks and shake it.",
+    "Catch the smooth orange bottle and shake it instantly.",
+    "Lift the bottle for holding drinks with the right arm and shake it.",
+    "Shake the round-bottom bottle with white cap after holding it firmly.",
+    "Grab the smooth orange bottle and move it to shake.",
+    "Shake the cylindrical orange plastic bottle using the right arm after grabbing.",
+    "Pick the medium bottle with colorful label up using the right arm and shake it.",
+    "Use the right arm to lift and shake the smooth orange bottle.",
+    "Shake the curved orange soda bottle after grabbing it.",
+    "Hold the orange bottle and shake it properly.",
+    "Shake the medium bottle with colorful label thoroughly after grabbing it.",
+    "Using the right arm, shake the grooved orange drink bottle and then place it back.",
+    "With the right arm, pick the grooved orange drink bottle and shake properly.",
+    "Use the right arm to grab the round-bottom bottle with white cap and shake properly.",
+    "Grab the plastic bottle firmly, shake it, and put it down.",
+    "Pick up the grooved orange drink bottle and shake it well.",
+    "Grab the smooth orange bottle and shake it steadily.",
+    "Lift up the orange drink bottle with label using the right arm, then shake.",
+    "Grab and shake the cylindrical orange plastic bottle using the right arm.",
+    "Shake the round-bottom bottle with white cap after grabbing it.",
+    "Grab the grooved orange drink bottle and give it a shake.",
+    "Lift the grooved orange drink bottle with the right arm and give it a shake.",
+    "Pick the medium bottle with colorful label up with the right arm and shake.",
+    "Hold and shake the the bottle for holding drinks carefully.",
+    "Hold the grooved orange drink bottle with the right arm and shake lightly.",
+    "Utilize the right arm to hold the light and medium-sized bottle and shake it.",
+    "Grab the light and medium-sized bottle with the right arm and shake.",
+    "Shake the medium bottle with colorful label after lifting it.",
+    "Shake the the medium bottle with colorful label properly after lifting.",
+    "Shake the light and medium-sized bottle firmly after grabbing.",
+    "Secure the bottle for holding drinks, shake it, and place it down.",
+    "Take the medium bottle with colorful label using the right arm and give it a shake.",
+    "Lift the ridged orange bottle with grooves with the right arm and shake.",
+    "Lift the light and medium-sized bottle and shake it gently.",
+    "Hold the cylindrical orange plastic bottle steady, then shake it.",
+    "Grip the medium bottle with colorful label using the right arm and shake.",
+    "Lift the plastic bottle and shake it thoroughly.",
+    "Shake the light and medium-sized bottle after grabbing it.",
+    "Grasp the bottle for holding drinks with the right arm and shake it.",
+    "Grab the grooved orange drink bottle using the right arm, then shake.",
+    "Pick the ridged orange bottle with grooves and perform shaking motion.",
+    "Use the right arm to pick and shake the cylindrical orange plastic bottle.",
+    "Secure the grooved orange drink bottle and perform a shake.",
+    "Grab the round-bottom bottle with white cap carefully and shake.",
+    "Use the right arm to lift and shake the light and medium-sized bottle.",
+    "Use the right arm to lift and shake the orange bottle.",
+    "Hold the medium bottle with colorful label, shake it briefly.",
+    "Pick up the cylindrical orange plastic bottle and shake it.",
+    "Use the right arm to grab the plastic bottle and shake it.",
+    "Pick the light and medium-sized bottle, shake it with the right arm.",
+    "Use the right arm to hold the smooth orange bottle and shake it.",
+    "Catch the light and medium-sized bottle and shake it instantly.",
+    "Lift the plastic bottle with the right arm and shake it.",
+    "Shake the cylindrical orange plastic bottle after holding it firmly.",
+    "Grab the smooth orange bottle and move it to shake.",
+    "Shake the medium bottle with colorful label using the right arm after grabbing.",
+    "Pick the grooved orange drink bottle up using the right arm and shake it.",
+    "Use the right arm to lift and shake the cylindrical orange plastic bottle.",
+    "Shake the bottle for holding drinks after grabbing it.",
+    "Hold the bottle for holding drinks and shake it properly.",
+    "Shake the plastic bottle thoroughly after grabbing it.",
+    "Using the right arm, shake the light and medium-sized bottle and then place it back.",
+    "With the right arm, pick the curved orange soda bottle and shake properly.",
+    "Use the right arm to grab the grooved orange drink bottle and shake properly.",
+    "Grab the plastic bottle firmly, shake it, and put it down.",
+    "Pick up the curved orange soda bottle and shake it well.",
+    "Grab the grooved orange drink bottle and shake it steadily.",
+    "Lift up the orange drink bottle with label using the right arm, then shake.",
+    "Grab and shake the ridged orange bottle with grooves using the right arm.",
+    "Shake the grooved orange drink bottle after grabbing it.",
+    "Grab the round-bottom bottle with white cap and give it a shake.",
+    "Lift the cylindrical orange plastic bottle with the right arm and give it a shake.",
+    "Pick the light and medium-sized bottle up with the right arm and shake."
+  ],
+  "unseen": [
+    "Use the right arm to grab the white capped orange plastic bottle and shake.",
+    "Shake the white capped orange plastic bottle after picking it with the right arm.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Use the right arm to pick the bottle with ridged orange grip.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with white cap with the right arm and shake.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Pick and shake the the bottle with ridged orange grip with the right arm.",
+    "Pick up the bottle with white cap and shake it.",
+    "Use the right arm to grab the white capped orange plastic bottle and shake.",
+    "Shake the bottle with white cap after picking it with the right arm.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Use the right arm to pick the bottle with ridged orange grip.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with white cap with the right arm and shake.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Pick and shake the the bottle with ridged orange grip with the right arm.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Use the right arm to grab the white capped orange plastic bottle and shake.",
+    "Shake the bottle with ridged orange grip after picking it with the right arm.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Pick up the bottle with ridged orange grip with the right arm and shake.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Pick and shake the the white capped orange plastic bottle with the right arm.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Use the right arm to grab the bottle with white cap and shake.",
+    "Shake the bottle with white cap after picking it with the right arm.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "Pick up the bottle with white cap and shake it.",
+    "Pick up the white capped orange plastic bottle with the right arm and shake.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Pick and shake the the bottle with white cap with the right arm.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Use the right arm to grab the bottle with white cap and shake.",
+    "Shake the bottle with white cap after picking it with the right arm.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Grab the bottle with white cap and shake it.",
+    "Use the right arm to pick the bottle with white cap.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Pick up the bottle with ridged orange grip with the right arm and shake.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Pick and shake the the white capped orange plastic bottle with the right arm.",
+    "Pick up the bottle with white cap and shake it.",
+    "Use the right arm to grab the white capped orange plastic bottle and shake.",
+    "Shake the white capped orange plastic bottle after picking it with the right arm.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Use the right arm to pick the bottle with ridged orange grip.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with ridged orange grip with the right arm and shake.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Pick and shake the the bottle with ridged orange grip with the right arm.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Use the right arm to grab the bottle with ridged orange grip and shake.",
+    "Shake the white capped orange plastic bottle after picking it with the right arm.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Grab the bottle with white cap and shake it.",
+    "Use the right arm to pick the bottle with ridged orange grip.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Pick up the bottle with white cap with the right arm and shake.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Pick and shake the the bottle with white cap with the right arm.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Use the right arm to grab the bottle with ridged orange grip and shake.",
+    "Shake the white capped orange plastic bottle after picking it with the right arm.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Use the right arm to pick the bottle with white cap.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Pick up the white capped orange plastic bottle with the right arm and shake.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Pick and shake the the bottle with white cap with the right arm.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Use the right arm to grab the white capped orange plastic bottle and shake.",
+    "Shake the bottle with ridged orange grip after picking it with the right arm.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Grab the bottle with white cap and shake it.",
+    "Use the right arm to pick the bottle with white cap.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Pick up the bottle with ridged orange grip with the right arm and shake.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Pick and shake the the bottle with ridged orange grip with the right arm.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Use the right arm to grab the white capped orange plastic bottle and shake.",
+    "Shake the bottle with ridged orange grip after picking it with the right arm.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Use the right arm to pick the bottle with ridged orange grip.",
+    "Pick up the bottle with white cap and shake it.",
+    "Pick up the white capped orange plastic bottle with the right arm and shake.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Pick and shake the the bottle with ridged orange grip with the right arm.",
+    "Pick up the white capped orange plastic bottle and shake it."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001370.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, pick the orange bottle and shake properly.",
+    "Shake the orange bottle using the right arm after grabbing.",
+    "Grab the yellow label bottle carefully and shake.",
+    "Shake the cylindrical orange and white bottle after holding it firmly.",
+    "Shake the drinking bottle with yellow label firmly after grabbing.",
+    "Lift the bottle with orange cap and shake it gently.",
+    "Shake the orange and white bottle with cap after grabbing it.",
+    "Hold the drinking bottle with yellow label steady, then shake it.",
+    "Hold the plastic bottle with the right arm and shake lightly.",
+    "Shake the yellow label bottle thoroughly after grabbing it.",
+    "Use the right arm to pick and shake the orange and white bottle with cap.",
+    "Lift the plastic bottle with the right arm and shake it.",
+    "Grab the orange bottle using the right arm, then shake.",
+    "Grab the medium orange bottle firmly, shake it, and put it down.",
+    "Use the right arm to grab the bottle with orange cap and shake properly.",
+    "Hold and shake the the bottle with orange cap carefully.",
+    "Lift up the smooth plastic bottle using the right arm, then shake.",
+    "Shake the bottle with orange cap after lifting it.",
+    "Pick the white and orange plastic bottle and perform shaking motion.",
+    "Utilize the right arm to hold the bottle with orange cap and shake it.",
+    "Lift the bottle with ribbed orange bottom and shake it thoroughly.",
+    "Using the right arm, shake the orange bottle and then place it back.",
+    "Pick the bottle with orange cap, shake it with the right arm.",
+    "Pick up the yellow label bottle and shake it.",
+    "Take the white and orange plastic bottle using the right arm and give it a shake.",
+    "Grab the medium orange bottle and move it to shake.",
+    "Grab the medium orange bottle and give it a shake.",
+    "Secure the medium bottle with orange lid and perform a shake.",
+    "Grab and shake the medium orange bottle using the right arm.",
+    "Pick up the cylindrical orange and white bottle and shake it well.",
+    "Catch the white and orange plastic bottle and shake it instantly.",
+    "Use the right arm to lift and shake the bottle with ribbed orange bottom.",
+    "Grab the medium orange bottle and shake it steadily.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Lift the smooth plastic bottle with the right arm and give it a shake.",
+    "Pick the medium orange bottle up using the right arm and shake it.",
+    "Grab the white and orange plastic bottle with the right arm and shake.",
+    "Lift the plastic bottle with the right arm and shake.",
+    "Grasp the bottle with orange cap with the right arm and shake it.",
+    "Secure the plastic bottle, shake it, and place it down.",
+    "Hold the white and orange plastic bottle and shake it properly.",
+    "Pick the white and orange plastic bottle up with the right arm and shake.",
+    "Use the right arm to grab the bottle with orange cap and shake it.",
+    "Use the right arm to hold the bottle with ribbed orange bottom and shake it.",
+    "Shake the yellow label bottle after grabbing it.",
+    "Shake the bottle with orange cap after grabbing it.",
+    "Grip the medium bottle with orange lid using the right arm and shake.",
+    "Use the right arm to lift and shake the yellow label bottle.",
+    "Shake the the smooth plastic bottle properly after lifting.",
+    "Hold the drinking bottle with yellow label, shake it briefly.",
+    "With the right arm, pick the cylindrical orange and white bottle and shake properly.",
+    "Shake the drinking bottle with yellow label using the right arm after grabbing.",
+    "Grab the orange and white bottle with cap carefully and shake.",
+    "Shake the orange bottle after holding it firmly.",
+    "Shake the smooth plastic bottle firmly after grabbing.",
+    "Lift the white and orange plastic bottle and shake it gently.",
+    "Shake the drinking bottle with yellow label after grabbing it.",
+    "Hold the smooth plastic bottle steady, then shake it.",
+    "Hold the orange bottle with the right arm and shake lightly.",
+    "Shake the orange and white bottle with cap thoroughly after grabbing it.",
+    "Use the right arm to pick and shake the smooth plastic bottle.",
+    "Lift the orange bottle with the right arm and shake it.",
+    "Grab the white and orange plastic bottle using the right arm, then shake.",
+    "Grab the smooth plastic bottle firmly, shake it, and put it down.",
+    "Use the right arm to grab the plastic bottle and shake properly.",
+    "Hold and shake the the bottle with ribbed orange bottom carefully.",
+    "Lift up the medium orange bottle using the right arm, then shake.",
+    "Shake the bottle with ribbed orange bottom after lifting it.",
+    "Pick the white and orange plastic bottle and perform shaking motion.",
+    "Utilize the right arm to hold the cylindrical orange and white bottle and shake it.",
+    "Lift the bottle with orange cap and shake it thoroughly.",
+    "Using the right arm, shake the orange bottle and then place it back.",
+    "Pick the medium bottle with orange lid, shake it with the right arm.",
+    "Pick up the smooth plastic bottle and shake it.",
+    "Take the orange and white bottle with cap using the right arm and give it a shake.",
+    "Grab the medium orange bottle and move it to shake.",
+    "Grab the bottle with orange cap and give it a shake.",
+    "Secure the bottle with orange cap and perform a shake.",
+    "Grab and shake the white and orange plastic bottle using the right arm.",
+    "Pick up the cylindrical orange and white bottle and shake it well.",
+    "Catch the smooth plastic bottle and shake it instantly.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Grab the medium bottle with orange lid and shake it steadily.",
+    "Use the right arm to lift and shake the medium orange bottle.",
+    "Lift the orange and white bottle with cap with the right arm and give it a shake.",
+    "Pick the cylindrical orange and white bottle up using the right arm and shake it.",
+    "Grab the medium orange bottle with the right arm and shake.",
+    "Lift the medium bottle with orange lid with the right arm and shake.",
+    "Grasp the orange bottle with the right arm and shake it.",
+    "Secure the smooth plastic bottle, shake it, and place it down.",
+    "Hold the cylindrical orange and white bottle and shake it properly.",
+    "Pick the orange and white bottle with cap up with the right arm and shake.",
+    "Use the right arm to grab the yellow label bottle and shake it.",
+    "Use the right arm to hold the medium orange bottle and shake it.",
+    "Shake the yellow label bottle after grabbing it.",
+    "Shake the white and orange plastic bottle after grabbing it.",
+    "Grip the smooth plastic bottle using the right arm and shake.",
+    "Use the right arm to lift and shake the bottle with ribbed orange bottom.",
+    "Shake the the medium orange bottle properly after lifting.",
+    "Hold the drinking bottle with yellow label, shake it briefly."
+  ],
+  "unseen": [
+    "Use the right arm to pick the bottle with curved body.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Grab the bottle with curved body and shake it.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Grab the bottle with yellow sticker label and shake it."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002020.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the dark brown bottle with a squared body up using the right arm and shake it.",
+    "Pick up the rectangular brown body with white top and shake it.",
+    "Lift the medium-sized brown plastic bottle with the right arm and shake.",
+    "Lift the bottle with flat sides and logo with the right arm and give it a shake.",
+    "Lift the dark brown bottle with a squared body and shake it gently.",
+    "Using the right arm, shake the plastic bottle and then place it back.",
+    "Shake the rectangular brown body with white top using the right arm after grabbing.",
+    "Grab the brown bottle with rounded rectangular shape with the right arm and shake.",
+    "Shake the medium-sized brown plastic bottle after grabbing it.",
+    "Shake the medium bottle with glossy surface firmly after grabbing.",
+    "Shake the medium bottle with glossy surface thoroughly after grabbing it.",
+    "Hold the plastic bottle steady, then shake it.",
+    "Catch the brown bottle with rounded rectangular shape and shake it instantly.",
+    "Grab and shake the brown bottle with rounded rectangular shape using the right arm.",
+    "Secure the dark brown bottle with a squared body, shake it, and place it down.",
+    "Shake the the plastic bottle properly after lifting.",
+    "Use the right arm to pick and shake the smooth brown bottle with green label.",
+    "Pick the brown bottle with rounded rectangular shape up with the right arm and shake.",
+    "Lift up the brown bottle with rounded rectangular shape using the right arm, then shake.",
+    "Hold the smooth brown bottle with green label, shake it briefly.",
+    "Shake the smooth brown bottle with green label after grabbing it.",
+    "Use the right arm to hold the medium bottle with glossy surface and shake it.",
+    "Grab the rectangular brown body with white top and move it to shake.",
+    "Pick the rectangular brown body with white top, shake it with the right arm.",
+    "With the right arm, pick the plastic bottle and shake properly.",
+    "Shake the brown bottle with rounded rectangular shape after holding it firmly.",
+    "Grasp the bottle with flat sides and logo with the right arm and shake it.",
+    "Grab the bottle with green cap using the right arm, then shake.",
+    "Use the right arm to lift and shake the medium bottle with glossy surface.",
+    "Shake the brown bottle after grabbing it.",
+    "Grip the bottle with green cap using the right arm and shake.",
+    "Secure the dark brown bottle with a squared body and perform a shake.",
+    "Utilize the right arm to hold the bottle with flat sides and logo and shake it.",
+    "Grab the brown bottle carefully and shake.",
+    "Use the right arm to grab the smooth brown bottle with green label and shake properly.",
+    "Pick up the bottle with flat sides and logo and shake it well.",
+    "Grab the smooth plastic bottle with white cap and shake it steadily.",
+    "Shake the bottle with flat sides and logo after lifting it.",
+    "Take the rectangular brown body with white top using the right arm and give it a shake.",
+    "Grab the bottle with flat sides and logo and give it a shake.",
+    "Use the right arm to grab the bottle with green cap and shake it.",
+    "Lift the smooth plastic bottle with white cap and shake it thoroughly.",
+    "Pick the plastic bottle and perform shaking motion.",
+    "Hold the rectangular-shaped bottle with round cap and shake it properly.",
+    "Use the right arm to lift and shake the smooth brown bottle with green label.",
+    "Grab the smooth brown bottle with green label firmly, shake it, and put it down.",
+    "Hold and shake the the bottle with green cap carefully.",
+    "Use the right arm to lift and shake the bottle with green cap.",
+    "Hold the rectangular brown body with white top with the right arm and shake lightly.",
+    "Lift the rectangular-shaped bottle with round cap with the right arm and shake it.",
+    "Pick the rectangular brown body with white top up using the right arm and shake it.",
+    "Pick up the dark brown bottle with a squared body and shake it.",
+    "Lift the plastic bottle with the right arm and shake.",
+    "Lift the rectangular brown body with white top with the right arm and give it a shake.",
+    "Lift the medium bottle with glossy surface and shake it gently.",
+    "Using the right arm, shake the dark brown bottle with a squared body and then place it back.",
+    "Shake the rectangular brown body with white top using the right arm after grabbing.",
+    "Grab the medium-sized brown plastic bottle with the right arm and shake.",
+    "Shake the smooth plastic bottle with white cap after grabbing it.",
+    "Shake the dark brown bottle with a squared body firmly after grabbing.",
+    "Shake the bottle with green cap thoroughly after grabbing it.",
+    "Hold the brown bottle steady, then shake it.",
+    "Catch the brown bottle and shake it instantly.",
+    "Grab and shake the medium bottle with glossy surface using the right arm.",
+    "Secure the dark brown bottle with a squared body, shake it, and place it down.",
+    "Shake the the plastic bottle properly after lifting.",
+    "Use the right arm to pick and shake the brown bottle with rounded rectangular shape.",
+    "Pick the rectangular brown body with white top up with the right arm and shake.",
+    "Lift up the smooth brown bottle with green label using the right arm, then shake.",
+    "Hold the bottle with flat sides and logo, shake it briefly.",
+    "Shake the medium bottle with glossy surface after grabbing it.",
+    "Use the right arm to hold the bottle with green cap and shake it.",
+    "Grab the bottle with flat sides and logo and move it to shake.",
+    "Pick the medium-sized brown plastic bottle, shake it with the right arm.",
+    "With the right arm, pick the smooth brown bottle with green label and shake properly.",
+    "Shake the bottle with flat sides and logo after holding it firmly.",
+    "Grasp the plastic bottle with the right arm and shake it.",
+    "Grab the medium bottle with glossy surface using the right arm, then shake.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Shake the bottle with flat sides and logo after grabbing it.",
+    "Grip the bottle with flat sides and logo using the right arm and shake.",
+    "Secure the dark brown bottle with a squared body and perform a shake.",
+    "Utilize the right arm to hold the plastic bottle and shake it.",
+    "Grab the brown bottle with rounded rectangular shape carefully and shake.",
+    "Use the right arm to grab the smooth brown bottle with green label and shake properly.",
+    "Pick up the bottle with green cap and shake it well.",
+    "Grab the smooth brown bottle with green label and shake it steadily.",
+    "Shake the rectangular-shaped bottle with round cap after lifting it.",
+    "Take the rectangular brown body with white top using the right arm and give it a shake.",
+    "Grab the dark brown bottle with a squared body and give it a shake.",
+    "Use the right arm to grab the smooth plastic bottle with white cap and shake it.",
+    "Lift the bottle with green cap and shake it thoroughly.",
+    "Pick the bottle with flat sides and logo and perform shaking motion.",
+    "Hold the rectangular-shaped bottle with round cap and shake it properly.",
+    "Use the right arm to lift and shake the bottle with green cap.",
+    "Grab the medium bottle with glossy surface firmly, shake it, and put it down.",
+    "Hold and shake the the medium bottle with glossy surface carefully.",
+    "Use the right arm to lift and shake the medium-sized brown plastic bottle.",
+    "Hold the dark brown bottle with a squared body with the right arm and shake lightly.",
+    "Lift the plastic bottle with the right arm and shake it."
+  ],
+  "unseen": [
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.",
+    "Use the right arm to pick the bottle with green label and white lid.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Use the right arm to grab the liquid container dark brown plastic and shake.",
+    "Grab the medium-sized plastic bottle with capped top and give it a shake.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the bottle with green label and white lid with the right arm and shake.",
+    "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 right arm.",
+    "Use the right arm to pick the bottle with green label and white lid.",
+    "Shake the liquid container dark brown plastic after picking it with the right arm.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Use the right arm to grab the liquid container dark brown plastic and shake.",
+    "Grab the bottle with green label and white lid and give it a shake.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Pick and shake the the liquid container dark brown plastic with the right arm.",
+    "Use the right arm to pick the liquid container dark brown plastic.",
+    "Shake the bottle with green label and white lid after picking it with the right arm.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Use the right arm to grab the liquid container dark brown plastic and shake.",
+    "Grab the bottle with green label and white lid and give it a shake.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.",
+    "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 right arm.",
+    "Use the right arm to pick the bottle with green label and white lid.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Use the right arm to grab the liquid container dark brown plastic and shake.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Pick up the liquid container dark brown plastic with the right arm and shake.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Pick and shake the the liquid container dark brown plastic with the right arm.",
+    "Use the right arm to pick the medium-sized plastic bottle with capped top.",
+    "Shake the bottle with green label and white lid after picking it with the right arm.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with green label and white lid and shake.",
+    "Grab the medium-sized plastic bottle with capped top and give it a shake.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.",
+    "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 right arm.",
+    "Use the right arm to pick the liquid container dark brown plastic.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Use the right arm to grab the liquid container dark brown plastic and shake.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Pick and shake the the bottle with green label and white lid with the right arm.",
+    "Use the right arm to pick the medium-sized plastic bottle with capped top.",
+    "Shake the bottle with green label and white lid after picking it with the right arm.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with green label and white lid and shake.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Pick up the liquid container dark brown plastic with the right arm and shake.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.",
+    "Use the right arm to pick the bottle with green label and white lid.",
+    "Shake the liquid container dark brown plastic after picking it with the right arm.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.",
+    "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 right arm.",
+    "Use the right arm to pick the bottle with green label and white lid.",
+    "Shake the liquid container dark brown plastic after picking it with the right arm.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with green label and white lid and shake.",
+    "Grab the medium-sized plastic bottle with capped top and give it a shake.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the bottle with green label and white lid with the right arm and shake.",
+    "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 right arm.",
+    "Use the right arm to pick the liquid container dark brown plastic.",
+    "Shake the bottle with green label and white lid after picking it with the right arm.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top with the right arm and shake."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002029.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grip the medium green bottle using the left arm and shake.",
+    "Lift up the green bottle with indented base using the left arm, then shake.",
+    "Pick the plastic bottle, shake it with the left arm.",
+    "Utilize the left arm to hold the smooth green plastic bottle and shake it.",
+    "Hold the smooth green plastic bottle and shake it properly.",
+    "Hold the medium green bottle with capped neck with the left arm and shake lightly.",
+    "Hold and shake the the smooth green bottle carefully.",
+    "Shake the bottle with narrow top after grabbing it.",
+    "Grasp the medium green bottle with the left arm and shake it.",
+    "Use the left arm to lift and shake the smooth green bottle.",
+    "Take the handheld green bottle using the left arm and give it a shake.",
+    "Grab the green bottle with indented base using the left arm, then shake.",
+    "Hold the bottle with narrow top steady, then shake it.",
+    "Shake the the bottle with narrow top properly after lifting.",
+    "Pick the bottle with ridges near base up with the left arm and shake.",
+    "Lift the green bottle with indented base and shake it gently.",
+    "Grab the medium green bottle with capped neck and give it a shake.",
+    "Grab the bottle with narrow top carefully and shake.",
+    "Shake the bottle with ridges near base after lifting it.",
+    "Use the left arm to lift and shake the medium green bottle with capped neck.",
+    "Shake the handheld green bottle after holding it firmly.",
+    "Lift the green bottle with indented base with the left arm and give it a shake.",
+    "Secure the plastic bottle and perform a shake.",
+    "Shake the smooth green plastic bottle after grabbing it.",
+    "Pick the bottle with ridges near base and perform shaking motion.",
+    "Shake the smooth green plastic bottle using the left arm after grabbing.",
+    "Grab the medium-sized green bottle with the left arm and shake.",
+    "With the left arm, pick the plastic bottle and shake properly.",
+    "Use the left arm to grab the medium green bottle and shake properly.",
+    "Secure the handheld green bottle, shake it, and place it down.",
+    "Lift the smooth green plastic bottle with the left arm and shake it.",
+    "Use the left arm to hold the smooth green bottle and shake it.",
+    "Shake the bottle with ridges near base thoroughly after grabbing it.",
+    "Hold the smooth green bottle, shake it briefly.",
+    "Pick up the plastic bottle and shake it.",
+    "Pick the smooth green bottle up using the left arm and shake it.",
+    "Shake the handheld green bottle firmly after grabbing.",
+    "Grab the medium green bottle and shake it steadily.",
+    "Using the left arm, shake the smooth green plastic bottle and then place it back.",
+    "Use the left arm to pick and shake the handheld green bottle.",
+    "Grab the medium green bottle and move it to shake.",
+    "Use the left arm to grab the medium-sized green bottle and shake it.",
+    "Use the left arm to lift and shake the medium green bottle with capped neck.",
+    "Grab and shake the plastic bottle using the left arm.",
+    "Catch the bottle with narrow top and shake it instantly.",
+    "Grab the handheld green bottle firmly, shake it, and put it down.",
+    "Lift the bottle with narrow top with the left arm and shake.",
+    "Lift the plastic bottle and shake it thoroughly.",
+    "Pick up the bottle with rounded neck and shake it well.",
+    "Shake the plastic bottle after grabbing it.",
+    "Grip the bottle with ridges near base using the left arm and shake.",
+    "Lift up the bottle with white printed label using the left arm, then shake.",
+    "Pick the medium green bottle, shake it with the left arm.",
+    "Utilize the left arm to hold the smooth green plastic bottle and shake it.",
+    "Hold the bottle with rounded neck and shake it properly.",
+    "Hold the medium green bottle with capped neck with the left arm and shake lightly.",
+    "Hold and shake the the bottle with white printed label carefully.",
+    "Shake the medium green bottle after grabbing it.",
+    "Grasp the bottle with rounded neck with the left arm and shake it.",
+    "Use the left arm to lift and shake the medium green bottle with capped neck.",
+    "Take the bottle with rounded neck using the left arm and give it a shake.",
+    "Grab the smooth green bottle using the left arm, then shake.",
+    "Hold the smooth green plastic bottle steady, then shake it.",
+    "Shake the the smooth green bottle properly after lifting.",
+    "Pick the medium green bottle up with the left arm and shake.",
+    "Lift the green bottle with indented base and shake it gently.",
+    "Grab the smooth green bottle and give it a shake.",
+    "Grab the green bottle with indented base carefully and shake.",
+    "Shake the bottle with white printed label after lifting it.",
+    "Use the left arm to lift and shake the plastic bottle.",
+    "Shake the medium-sized green bottle after holding it firmly.",
+    "Lift the medium green bottle with capped neck with the left arm and give it a shake.",
+    "Secure the bottle with rounded neck and perform a shake.",
+    "Shake the plastic bottle after grabbing it.",
+    "Pick the medium-sized green bottle and perform shaking motion.",
+    "Shake the medium green bottle using the left arm after grabbing.",
+    "Grab the bottle with narrow top with the left arm and shake.",
+    "With the left arm, pick the medium green bottle with capped neck and shake properly.",
+    "Use the left arm to grab the handheld green bottle and shake properly.",
+    "Secure the bottle with narrow top, shake it, and place it down.",
+    "Lift the smooth green plastic bottle with the left arm and shake it.",
+    "Use the left arm to hold the medium-sized green bottle and shake it.",
+    "Shake the bottle with ridges near base thoroughly after grabbing it.",
+    "Hold the green bottle with indented base, shake it briefly.",
+    "Pick up the medium-sized green bottle and shake it.",
+    "Pick the handheld green bottle up using the left arm and shake it.",
+    "Shake the medium-sized green bottle firmly after grabbing.",
+    "Grab the bottle with rounded neck and shake it steadily.",
+    "Using the left arm, shake the medium green bottle with capped neck and then place it back.",
+    "Use the left arm to pick and shake the handheld green bottle.",
+    "Grab the smooth green bottle and move it to shake.",
+    "Use the left arm to grab the smooth green plastic bottle and shake it.",
+    "Use the left arm to lift and shake the smooth green bottle.",
+    "Grab and shake the medium green bottle with capped neck using the left arm.",
+    "Catch the smooth green bottle and shake it instantly.",
+    "Grab the smooth green plastic bottle firmly, shake it, and put it down.",
+    "Lift the green bottle with indented base with the left arm and shake.",
+    "Lift the smooth green plastic bottle and shake it thoroughly.",
+    "Pick up the medium-sized green bottle and shake it well.",
+    "Shake the medium-sized green bottle after grabbing it."
+  ],
+  "unseen": [
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Pick and shake the the green bottle with white label with the left arm.",
+    "Use the left arm to grab the green bottle with white label and shake.",
+    "Use the left arm to pick the green plastic bottle with ridged bottom.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Pick up the green bottle and shake it.",
+    "Grab the green bottle and shake it.",
+    "Pick up the green bottle with the left arm and shake.",
+    "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.",
+    "Use the left arm to grab the green bottle and shake.",
+    "Use the left arm to pick the green plastic bottle with ridged bottom.",
+    "Grab the green bottle and give it a shake.",
+    "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green bottle with white label and shake it.",
+    "Pick up the green plastic bottle with ridged bottom with the left arm and shake.",
+    "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.",
+    "Use the left arm to grab the green bottle and shake.",
+    "Use the left arm to pick the green bottle with white label.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Pick up the green bottle and shake it.",
+    "Grab the green bottle and shake it.",
+    "Pick up the green bottle with the left arm and shake.",
+    "Shake the green bottle 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 white label with the left arm.",
+    "Use the left arm to grab the green bottle and shake.",
+    "Use the left arm to pick the green bottle.",
+    "Grab the green bottle and give it a shake.",
+    "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.",
+    "Grab the green bottle with white label and shake it.",
+    "Pick up the green bottle with white label with the left arm and shake.",
+    "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 the left arm.",
+    "Use the left arm to grab the green bottle and shake.",
+    "Use the left arm to pick the green bottle with white label.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green bottle with white label and shake it.",
+    "Pick up the green bottle with the left arm and shake.",
+    "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 white label with the left arm.",
+    "Use the left arm to grab the green bottle and shake.",
+    "Use the left arm to pick the green plastic bottle with ridged bottom.",
+    "Grab the green bottle with white label and give it a shake.",
+    "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.",
+    "Grab the green bottle with white label and shake it.",
+    "Pick up the green plastic bottle with ridged bottom with the left arm and shake.",
+    "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.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Use the left arm to pick the green plastic bottle with ridged bottom.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green bottle and shake it.",
+    "Pick up the green bottle with white label with the left arm and shake.",
+    "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 white label with the left arm.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Use the left arm to pick the green plastic bottle with ridged bottom.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick up the green bottle and shake it.",
+    "Grab the green bottle with white label and shake it.",
+    "Pick up the green plastic bottle with ridged bottom with the left arm and shake.",
+    "Shake the green plastic bottle with ridged bottom 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.",
+    "Use the left arm to grab the green bottle with white label and shake.",
+    "Use the left arm to pick the green bottle.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Pick up the green bottle and shake it.",
+    "Grab the green bottle with white label and shake it.",
+    "Pick up the green plastic bottle with ridged bottom with the left arm and shake.",
+    "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.",
+    "Use the left arm to grab the green bottle with white label and shake.",
+    "Use the left arm to pick the green plastic bottle with ridged bottom.",
+    "Grab the green bottle and give it a shake.",
+    "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.",
+    "Grab the green bottle with white label and shake it.",
+    "Pick up the green bottle with white label with the left arm and shake.",
+    "Shake the green bottle after picking it with the left arm."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002049.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the plastic bottle with colorful label and shake it properly.",
+    "Pick up the yellow capped drink bottle and shake it.",
+    "Lift up the plastic bottle with colorful label using the right arm, then shake.",
+    "Lift the drink bottle with rounded yellow lid and shake it thoroughly.",
+    "Hold the yellow capped drink bottle with the right arm and shake lightly.",
+    "Shake the medium bottle with yellow cap after lifting it.",
+    "Grab the medium black bottle with printed label firmly, shake it, and put it down.",
+    "Utilize the right arm to hold the bottle with blue and yellow print and shake it.",
+    "Grip the black cylindrical bottle with ridges using the right arm and shake.",
+    "Lift the drink bottle with rounded yellow lid with the right arm and shake it.",
+    "Use the right arm to lift and shake the smooth black bottle with ridges.",
+    "Shake the yellow capped drink bottle using the right arm after grabbing.",
+    "Secure the yellow-capped cylindrical bottle and perform a shake.",
+    "Use the right arm to lift and shake the medium black bottle with printed label.",
+    "Shake the beverage bottle with black body after holding it firmly.",
+    "Grab the bottle with blue and yellow print carefully and shake.",
+    "Grab the medium black bottle with printed label and move it to shake.",
+    "Lift the yellow-capped cylindrical bottle with the right arm and give it a shake.",
+    "Pick the yellow-capped cylindrical bottle and perform shaking motion.",
+    "Use the right arm to grab the yellow capped drink bottle and shake it.",
+    "Grab the medium black bottle with printed label and shake it steadily.",
+    "Pick up the medium black bottle with printed label and shake it well.",
+    "Shake the plastic bottle with colorful label after grabbing it.",
+    "Grab the medium bottle with yellow cap using the right arm, then shake.",
+    "Pick the yellow capped drink bottle up with the right arm and shake.",
+    "Grab the beverage bottle with black body with the right arm and shake.",
+    "Hold the bottle with blue and yellow print steady, then shake it.",
+    "Grab and shake the plastic bottle with colorful label using the right arm.",
+    "Shake the yellow capped drink bottle thoroughly after grabbing it.",
+    "Hold and shake the the medium bottle with yellow cap carefully.",
+    "Secure the black plastic bottle with Pepsi logo, shake it, and place it down.",
+    "Hold the plastic bottle with colorful label, shake it briefly.",
+    "Shake the beverage bottle with black body after grabbing it.",
+    "Use the right arm to grab the medium black bottle with printed label and shake properly.",
+    "Shake the the yellow-capped cylindrical bottle properly after lifting.",
+    "Pick the beverage bottle with black body, shake it with the right arm.",
+    "Use the right arm to hold the plastic bottle with colorful label and shake it.",
+    "Use the right arm to lift and shake the smooth black bottle with ridges.",
+    "Shake the smooth black bottle with ridges firmly after grabbing.",
+    "Pick the beverage bottle with black body up using the right arm and shake it.",
+    "Grab the black bottle and give it a shake.",
+    "Lift the plastic bottle with colorful label and shake it gently.",
+    "Grasp the bottle with blue and yellow print with the right arm and shake it.",
+    "With the right arm, pick the yellow capped drink bottle and shake properly.",
+    "Use the right arm to pick and shake the smooth black bottle with ridges.",
+    "Shake the drink bottle with rounded yellow lid after grabbing it.",
+    "Using the right arm, shake the black bottle and then place it back.",
+    "Take the drink bottle with rounded yellow lid using the right arm and give it a shake.",
+    "Lift the plastic bottle with colorful label with the right arm and shake.",
+    "Catch the yellow capped drink bottle and shake it instantly.",
+    "Hold the yellow capped drink bottle and shake it properly.",
+    "Pick up the black cylindrical bottle with ridges and shake it.",
+    "Lift up the drink bottle with rounded yellow lid using the right arm, then shake.",
+    "Lift the smooth black bottle with ridges and shake it thoroughly.",
+    "Hold the black cylindrical bottle with ridges with the right arm and shake lightly.",
+    "Shake the beverage bottle with black body after lifting it.",
+    "Grab the black bottle firmly, shake it, and put it down.",
+    "Utilize the right arm to hold the smooth black bottle with ridges and shake it.",
+    "Grip the black bottle using the right arm and shake.",
+    "Lift the plastic bottle with colorful label with the right arm and shake it.",
+    "Use the right arm to lift and shake the medium bottle with yellow cap.",
+    "Shake the beverage bottle with black body using the right arm after grabbing.",
+    "Secure the black plastic bottle with Pepsi logo and perform a shake.",
+    "Use the right arm to lift and shake the yellow-capped cylindrical bottle.",
+    "Shake the black bottle after holding it firmly.",
+    "Grab the beverage bottle with black body carefully and shake.",
+    "Grab the drink bottle with rounded yellow lid and move it to shake.",
+    "Lift the medium black bottle with printed label with the right arm and give it a shake.",
+    "Pick the black cylindrical bottle with ridges and perform shaking motion.",
+    "Use the right arm to grab the black plastic bottle with Pepsi logo and shake it.",
+    "Grab the beverage bottle with black body and shake it steadily.",
+    "Pick up the drink bottle with rounded yellow lid and shake it well.",
+    "Shake the yellow capped drink bottle after grabbing it.",
+    "Grab the yellow-capped cylindrical bottle using the right arm, then shake.",
+    "Pick the black plastic bottle with Pepsi logo up with the right arm and shake.",
+    "Grab the plastic bottle with colorful label with the right arm and shake.",
+    "Hold the plastic bottle with colorful label steady, then shake it.",
+    "Grab and shake the beverage bottle with black body using the right arm.",
+    "Shake the medium black bottle with printed label thoroughly after grabbing it.",
+    "Hold and shake the the yellow-capped cylindrical bottle carefully.",
+    "Secure the black plastic bottle with Pepsi logo, shake it, and place it down.",
+    "Hold the beverage bottle with black body, shake it briefly.",
+    "Shake the black plastic bottle with Pepsi logo after grabbing it.",
+    "Use the right arm to grab the black bottle and shake properly.",
+    "Shake the the yellow-capped cylindrical bottle properly after lifting.",
+    "Pick the bottle with blue and yellow print, shake it with the right arm.",
+    "Use the right arm to hold the black plastic bottle with Pepsi logo and shake it.",
+    "Use the right arm to lift and shake the bottle with blue and yellow print.",
+    "Shake the yellow-capped cylindrical bottle firmly after grabbing.",
+    "Pick the smooth black bottle with ridges up using the right arm and shake it.",
+    "Grab the yellow capped drink bottle and give it a shake.",
+    "Lift the medium black bottle with printed label and shake it gently.",
+    "Grasp the medium bottle with yellow cap with the right arm and shake it.",
+    "With the right arm, pick the black plastic bottle with Pepsi logo and shake properly.",
+    "Use the right arm to pick and shake the medium bottle with yellow cap.",
+    "Shake the black plastic bottle with Pepsi logo after grabbing it.",
+    "Using the right arm, shake the black plastic bottle with Pepsi logo and then place it back.",
+    "Take the smooth black bottle with ridges using the right arm and give it a shake.",
+    "Lift the black plastic bottle with Pepsi logo with the right arm and shake.",
+    "Catch the smooth black bottle with ridges and shake it instantly."
+  ],
+  "unseen": [
+    "Shake the bottle with ridges near base after picking it with the right arm.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Pick and shake the the plastic bottle with blue label with the right arm.",
+    "Use the right arm to grab the bottle with ridges near base and shake.",
+    "Use the right arm to pick the plastic bottle with blue label.",
+    "Shake the plastic bottle with blue label after picking it with the right arm.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Pick up the plastic bottle with blue label with the right arm and shake.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick and shake the the bottle with ridges near base with the right arm.",
+    "Use the right arm to grab the plastic bottle with blue label and shake.",
+    "Use the right arm to pick the hand-sized bottle with ridged bottom.",
+    "Shake the bottle with ridges near base after picking it with the right arm.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Pick up the plastic bottle with blue label with the right arm and shake.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick and shake the the bottle with ridges near base with the right arm.",
+    "Use the right arm to grab the plastic bottle with blue label and shake.",
+    "Use the right arm to pick the bottle with ridges near base.",
+    "Shake the bottle with ridges near base after picking it with the right arm.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Pick up the plastic bottle with blue label with the right arm and shake.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Pick and shake the the plastic bottle with blue label with the right arm.",
+    "Use the right arm to grab the plastic bottle with blue label and shake.",
+    "Use the right arm to pick the bottle with ridges near base.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Pick up the plastic bottle with blue label with the right arm and shake.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Pick and shake the the plastic bottle with blue label with the right arm.",
+    "Use the right arm to grab the bottle with ridges near base and shake.",
+    "Use the right arm to pick the plastic bottle with blue label.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Pick up the plastic bottle with blue label with the right arm and shake.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick and shake the the bottle with ridges near base with the right arm.",
+    "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Use the right arm to pick the hand-sized bottle with ridged bottom.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick and shake the the bottle with ridges near base with the right arm.",
+    "Use the right arm to grab the bottle with ridges near base and shake.",
+    "Use the right arm to pick the bottle with ridges near base.",
+    "Shake the bottle with ridges near base after picking it with the right arm.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Pick up the bottle with ridges near base with the right arm and shake.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.",
+    "Use the right arm to grab the plastic bottle with blue label and shake.",
+    "Use the right arm to pick the bottle with ridges near base.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Pick up the plastic bottle with blue label with the right arm and shake.",
+    "Grab the bottle with ridges near base and shake it.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.",
+    "Use the right arm to grab the plastic bottle with blue label and shake.",
+    "Use the right arm to pick the plastic bottle with blue label.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Pick up the bottle with ridges near base with the right arm and shake.",
+    "Grab the bottle with ridges near base and shake it.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.",
+    "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Use the right arm to pick the bottle with ridges near base."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002069.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the plastic bottle and move it to shake.",
+    "Lift the medium orange bottle with the right arm and shake.",
+    "Shake the orange and white bottle with cap after grabbing it.",
+    "Shake the yellow label bottle after holding it firmly.",
+    "Shake the bottle with ribbed orange bottom thoroughly after grabbing it.",
+    "Lift the bottle with ribbed orange bottom and shake it thoroughly.",
+    "Grab the cylindrical orange and white bottle using the right arm, then shake.",
+    "Use the right arm to lift and shake the yellow label bottle.",
+    "Use the right arm to pick and shake the yellow label bottle.",
+    "Catch the bottle with ribbed orange bottom and shake it instantly.",
+    "Hold the orange bottle steady, then shake it.",
+    "Grab the yellow label bottle and give it a shake.",
+    "Grab the bottle with orange cap with the right arm and shake.",
+    "Lift the plastic bottle and shake it gently.",
+    "Pick up the white and orange plastic bottle and shake it well.",
+    "Shake the yellow label bottle firmly after grabbing.",
+    "Use the right arm to grab the white and orange plastic bottle and shake it.",
+    "Shake the yellow label bottle using the right arm after grabbing.",
+    "Take the medium orange bottle using the right arm and give it a shake.",
+    "Pick the drinking bottle with yellow label, shake it with the right arm.",
+    "Hold the orange and white bottle with cap and shake it properly.",
+    "Lift the medium orange bottle with the right arm and shake it.",
+    "Grab and shake the medium orange bottle using the right arm.",
+    "Use the right arm to lift and shake the medium orange bottle.",
+    "Grip the cylindrical orange and white bottle using the right arm and shake.",
+    "With the right arm, pick the bottle with orange cap and shake properly.",
+    "Utilize the right arm to hold the orange bottle and shake it.",
+    "Secure the smooth plastic bottle and perform a shake.",
+    "Shake the the medium orange bottle properly after lifting.",
+    "Using the right arm, shake the bottle with orange cap and then place it back.",
+    "Use the right arm to grab the orange and white bottle with cap and shake properly.",
+    "Shake the bottle with ribbed orange bottom after grabbing it.",
+    "Pick the smooth plastic bottle up using the right arm and shake it.",
+    "Pick up the orange bottle and shake it.",
+    "Use the right arm to hold the bottle with ribbed orange bottom and shake it.",
+    "Grab the white and orange plastic bottle carefully and shake.",
+    "Shake the cylindrical orange and white bottle after lifting it.",
+    "Hold the plastic bottle, shake it briefly.",
+    "Grasp the bottle with ribbed orange bottom with the right arm and shake it.",
+    "Lift up the orange and white bottle with cap using the right arm, then shake.",
+    "Pick the drinking bottle with yellow label and perform shaking motion.",
+    "Shake the cylindrical orange and white bottle after grabbing it.",
+    "Hold the drinking bottle with yellow label with the right arm and shake lightly.",
+    "Secure the orange and white bottle with cap, shake it, and place it down.",
+    "Hold and shake the the plastic bottle carefully.",
+    "Pick the medium bottle with orange lid up with the right arm and shake.",
+    "Use the right arm to lift and shake the medium bottle with orange lid.",
+    "Lift the drinking bottle with yellow label with the right arm and give it a shake.",
+    "Grab the bottle with ribbed orange bottom and shake it steadily.",
+    "Grab the cylindrical orange and white bottle firmly, shake it, and put it down.",
+    "Grab the smooth plastic bottle and move it to shake.",
+    "Lift the orange bottle with the right arm and shake.",
+    "Shake the orange and white bottle with cap after grabbing it.",
+    "Shake the medium orange bottle after holding it firmly.",
+    "Shake the smooth plastic bottle thoroughly after grabbing it.",
+    "Lift the white and orange plastic bottle and shake it thoroughly.",
+    "Grab the yellow label bottle using the right arm, then shake.",
+    "Use the right arm to lift and shake the bottle with ribbed orange bottom.",
+    "Use the right arm to pick and shake the medium orange bottle.",
+    "Catch the medium orange bottle and shake it instantly.",
+    "Hold the drinking bottle with yellow label steady, then shake it.",
+    "Grab the smooth plastic bottle and give it a shake.",
+    "Grab the bottle with ribbed orange bottom with the right arm and shake.",
+    "Lift the bottle with orange cap and shake it gently.",
+    "Pick up the plastic bottle and shake it well.",
+    "Shake the white and orange plastic bottle firmly after grabbing.",
+    "Use the right arm to grab the drinking bottle with yellow label and shake it.",
+    "Shake the yellow label bottle using the right arm after grabbing.",
+    "Take the orange and white bottle with cap using the right arm and give it a shake.",
+    "Pick the drinking bottle with yellow label, shake it with the right arm.",
+    "Hold the medium orange bottle and shake it properly.",
+    "Lift the orange bottle with the right arm and shake it.",
+    "Grab and shake the medium bottle with orange lid using the right arm.",
+    "Use the right arm to lift and shake the medium bottle with orange lid.",
+    "Grip the bottle with ribbed orange bottom using the right arm and shake.",
+    "With the right arm, pick the cylindrical orange and white bottle and shake properly.",
+    "Utilize the right arm to hold the orange and white bottle with cap and shake it.",
+    "Secure the white and orange plastic bottle and perform a shake.",
+    "Shake the the white and orange plastic bottle properly after lifting.",
+    "Using the right arm, shake the orange bottle and then place it back.",
+    "Use the right arm to grab the drinking bottle with yellow label and shake properly.",
+    "Shake the drinking bottle with yellow label after grabbing it.",
+    "Pick the bottle with ribbed orange bottom up using the right arm and shake it.",
+    "Pick up the orange bottle and shake it.",
+    "Use the right arm to hold the bottle with orange cap and shake it.",
+    "Grab the orange bottle carefully and shake.",
+    "Shake the medium bottle with orange lid after lifting it.",
+    "Hold the yellow label bottle, shake it briefly.",
+    "Grasp the plastic bottle with the right arm and shake it.",
+    "Lift up the smooth plastic bottle using the right arm, then shake.",
+    "Pick the medium orange bottle and perform shaking motion.",
+    "Shake the cylindrical orange and white bottle after grabbing it.",
+    "Hold the medium bottle with orange lid with the right arm and shake lightly.",
+    "Secure the drinking bottle with yellow label, shake it, and place it down.",
+    "Hold and shake the the orange and white bottle with cap carefully.",
+    "Pick the cylindrical orange and white bottle up with the right arm and shake.",
+    "Use the right arm to lift and shake the orange and white bottle with cap.",
+    "Lift the smooth plastic bottle with the right arm and give it a shake.",
+    "Grab the plastic bottle and shake it steadily.",
+    "Grab the smooth plastic bottle firmly, shake it, and put it down."
+  ],
+  "unseen": [
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Pick up the bottle with curved body and shake it.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Grab the bottle with curved body and shake it.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Grab the bottle with curved body and shake it.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Pick up the bottle with curved body and shake it.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Pick up the bottle with curved body and shake it.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Grab the curvy orange bottle with white section and give it a shake."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002081.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Utilize the right arm to hold the bottle with yellow cap and shake it.",
+    "Shake the cylindrical orange bottle with yellow top thoroughly after grabbing it.",
+    "Hold the plastic bottle with sealed yellow cap steady, then shake it.",
+    "Grab the bottle for liquids using the right arm, then shake.",
+    "Hold the plastic bottle with sealed yellow cap with the right arm and shake lightly.",
+    "Lift the bottle with printed label with the right arm and shake.",
+    "Shake the bottle with narrow neck after grabbing it.",
+    "Grip the yellow-capped plastic bottle using the right arm and shake.",
+    "Catch the plastic bottle with sealed yellow cap and shake it instantly.",
+    "Grab the orange bottle and give it a shake.",
+    "Shake the bottle with yellow cap after lifting it.",
+    "Shake the orange cylindrical bottle after grabbing it.",
+    "Take the plastic bottle using the right arm and give it a shake.",
+    "Shake the yellow-capped plastic bottle using the right arm after grabbing.",
+    "With the right arm, pick the medium-sized orange bottle and shake properly.",
+    "Shake the plastic bottle with sealed yellow cap after holding it firmly.",
+    "Lift up the plastic bottle using the right arm, then shake.",
+    "Using the right arm, shake the medium-sized orange bottle and then place it back.",
+    "Lift the cylindrical orange bottle with yellow top with the right arm and give it a shake.",
+    "Pick up the plastic bottle and shake it.",
+    "Secure the smooth plastic bottle, shake it, and place it down.",
+    "Pick the cylindrical orange bottle with yellow top up with the right arm and shake.",
+    "Use the right arm to pick and shake the smooth plastic bottle.",
+    "Hold the plastic bottle, shake it briefly.",
+    "Use the right arm to grab the plastic bottle and shake properly.",
+    "Grab the orange bottle with the right arm and shake.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Pick up the bottle for liquids and shake it well.",
+    "Grasp the plastic bottle with the right arm and shake it.",
+    "Grab and shake the plastic bottle with sealed yellow cap using the right arm.",
+    "Use the right arm to grab the bottle with narrow neck and shake it.",
+    "Lift the bottle with printed label and shake it gently.",
+    "Hold and shake the the bottle with yellow cap carefully.",
+    "Hold the smooth plastic bottle and shake it properly.",
+    "Shake the bottle with printed label after grabbing it.",
+    "Shake the plastic bottle with sealed yellow cap firmly after grabbing.",
+    "Grab the cylindrical orange bottle with yellow top carefully and shake.",
+    "Use the right arm to hold the plastic bottle with sealed yellow cap and shake it.",
+    "Pick the orange cylindrical bottle and perform shaking motion.",
+    "Grab the orange bottle and move it to shake.",
+    "Grab the orange bottle and shake it steadily.",
+    "Use the right arm to lift and shake the medium-sized orange bottle.",
+    "Lift the plastic bottle with sealed yellow cap and shake it thoroughly.",
+    "Lift the plastic bottle with the right arm and shake it.",
+    "Use the right arm to lift and shake the bottle with printed label.",
+    "Shake the the cylindrical orange bottle with yellow top properly after lifting.",
+    "Grab the bottle for liquids firmly, shake it, and put it down.",
+    "Secure the orange bottle and perform a shake.",
+    "Pick the plastic bottle with sealed yellow cap up using the right arm and shake it.",
+    "Pick the plastic bottle, shake it with the right arm.",
+    "Utilize the right arm to hold the smooth plastic bottle and shake it.",
+    "Shake the bottle with narrow neck thoroughly after grabbing it.",
+    "Hold the bottle with yellow cap steady, then shake it.",
+    "Grab the cylindrical orange bottle with yellow top using the right arm, then shake.",
+    "Hold the orange cylindrical bottle with the right arm and shake lightly.",
+    "Lift the bottle with yellow cap with the right arm and shake.",
+    "Shake the bottle for liquids after grabbing it.",
+    "Grip the medium-sized orange bottle using the right arm and shake.",
+    "Catch the bottle with printed label and shake it instantly.",
+    "Grab the plastic bottle and give it a shake.",
+    "Shake the bottle with yellow cap after lifting it.",
+    "Shake the plastic bottle with sealed yellow cap after grabbing it.",
+    "Take the yellow-capped plastic bottle using the right arm and give it a shake.",
+    "Shake the smooth plastic bottle using the right arm after grabbing.",
+    "With the right arm, pick the medium-sized orange bottle and shake properly.",
+    "Shake the plastic bottle after holding it firmly.",
+    "Lift up the bottle for liquids using the right arm, then shake.",
+    "Using the right arm, shake the bottle with narrow neck and then place it back.",
+    "Lift the plastic bottle with the right arm and give it a shake.",
+    "Pick up the cylindrical orange bottle with yellow top and shake it.",
+    "Secure the bottle with yellow cap, shake it, and place it down.",
+    "Pick the plastic bottle with sealed yellow cap up with the right arm and shake.",
+    "Use the right arm to pick and shake the plastic bottle with sealed yellow cap.",
+    "Hold the smooth plastic bottle, shake it briefly.",
+    "Use the right arm to grab the medium-sized orange bottle and shake properly.",
+    "Grab the orange cylindrical bottle with the right arm and shake.",
+    "Use the right arm to lift and shake the bottle with yellow cap.",
+    "Pick up the plastic bottle with sealed yellow cap and shake it well.",
+    "Grasp the bottle with printed label with the right arm and shake it.",
+    "Grab and shake the yellow-capped plastic bottle using the right arm.",
+    "Use the right arm to grab the orange cylindrical bottle and shake it.",
+    "Lift the plastic bottle with sealed yellow cap and shake it gently.",
+    "Hold and shake the the bottle with printed label carefully.",
+    "Hold the cylindrical orange bottle with yellow top and shake it properly.",
+    "Shake the plastic bottle after grabbing it.",
+    "Shake the bottle with yellow cap firmly after grabbing.",
+    "Grab the plastic bottle carefully and shake.",
+    "Use the right arm to hold the plastic bottle with sealed yellow cap and shake it.",
+    "Pick the bottle for liquids and perform shaking motion.",
+    "Grab the bottle with printed label and move it to shake.",
+    "Grab the bottle with printed label and shake it steadily.",
+    "Use the right arm to lift and shake the bottle for liquids.",
+    "Lift the orange cylindrical bottle and shake it thoroughly.",
+    "Lift the smooth plastic bottle with the right arm and shake it.",
+    "Use the right arm to lift and shake the bottle with yellow cap.",
+    "Shake the the bottle with yellow cap properly after lifting.",
+    "Grab the orange cylindrical bottle firmly, shake it, and put it down.",
+    "Secure the bottle with yellow cap and perform a shake.",
+    "Pick the bottle for liquids up using the right arm and shake it.",
+    "Pick the bottle with yellow cap, shake it with the right arm."
+  ],
+  "unseen": [
+    "Pick and shake the the label-covered orange bottle with the right arm.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Use the right arm to grab the orange bottle with smooth texture and shake.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Shake the label-covered orange bottle after picking it with the right arm.",
+    "Use the right arm to grab the orange bottle with smooth texture and shake.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick up the label-covered orange bottle with the right arm and shake.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Shake the orange bottle with smooth texture after picking it with the right arm.",
+    "Use the right arm to grab the orange bottle with smooth texture and shake.",
+    "Grab the handheld orange bottle and shake it.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Pick and shake the the orange bottle with smooth texture with the right arm.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Shake the label-covered orange bottle after picking it with the right arm.",
+    "Use the right arm to grab the handheld orange bottle and shake.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the right arm to pick the orange bottle with smooth texture.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the label-covered orange bottle with the right arm and shake.",
+    "Pick and shake the the orange bottle with smooth texture with the right arm.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Shake the orange bottle with smooth texture after picking it with the right arm.",
+    "Use the right arm to grab the orange bottle with smooth texture and shake.",
+    "Grab the handheld orange bottle and shake it.",
+    "Use the right arm to pick the orange bottle with smooth texture.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Shake the orange bottle with smooth texture after picking it with the right arm.",
+    "Use the right arm to grab the handheld orange bottle and shake.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Shake the orange bottle with smooth texture after picking it with the right arm.",
+    "Use the right arm to grab the handheld orange bottle and shake.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Use the right arm to pick the orange bottle with smooth texture.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Pick and shake the the label-covered orange bottle with the right arm.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Shake the orange bottle with smooth texture after picking it with the right arm.",
+    "Use the right arm to grab the orange bottle with smooth texture and shake.",
+    "Grab the handheld orange bottle and shake it.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Pick and shake the the orange bottle with smooth texture with the right arm.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Use the right arm to grab the orange bottle with smooth texture and shake.",
+    "Grab the handheld orange bottle and shake it.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Use the right arm to grab the handheld orange bottle and shake.",
+    "Grab the handheld orange bottle and shake it.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002087.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the medium dark brown bottle, shake it with the right arm.",
+    "Shake the long thin bottle thoroughly after grabbing it.",
+    "Grip the long thin bottle using the right arm and shake.",
+    "Grab the bottle with white neck and red top using the right arm, then shake.",
+    "Secure the plastic drink bottle and perform a shake.",
+    "Hold and shake the the hand-sized soda bottle carefully.",
+    "Catch the bottle with white neck and red top and shake it instantly.",
+    "Pick up the hand-sized soda bottle and shake it well.",
+    "Use the right arm to lift and shake the red-capped bottle.",
+    "Lift the narrow-necked bottle with the right arm and give it a shake.",
+    "Using the right arm, shake the long thin bottle and then place it back.",
+    "Grab the plastic drink bottle and shake it steadily.",
+    "Pick up the Coca-Cola bottle and shake it.",
+    "Take the bottle with white neck and red top using the right arm and give it a shake.",
+    "Grab the plastic drink bottle and give it a shake.",
+    "Lift the medium dark brown bottle and shake it gently.",
+    "Secure the Coca-Cola bottle, shake it, and place it down.",
+    "Shake the hand-sized soda bottle after holding it firmly.",
+    "Grab the bottle with white neck and red top carefully and shake.",
+    "Hold the bottle with white neck and red top, shake it briefly.",
+    "Hold the hand-sized soda bottle steady, then shake it.",
+    "Shake the Coca-Cola bottle after grabbing it.",
+    "Shake the smooth bottle with red lid firmly after grabbing.",
+    "Shake the red-capped bottle using the right arm after grabbing.",
+    "Grab and shake the hand-sized soda bottle using the right arm.",
+    "Lift the medium dark brown bottle with the right arm and shake.",
+    "Pick the red-capped bottle up using the right arm and shake it.",
+    "Lift the narrow-necked bottle with the right arm and shake it.",
+    "Lift up the medium dark brown bottle using the right arm, then shake.",
+    "Grab the red-capped bottle and move it to shake.",
+    "With the right arm, pick the bottle with white neck and red top and shake properly.",
+    "Shake the red-capped bottle after grabbing it.",
+    "Pick the narrow-necked bottle up with the right arm and shake.",
+    "Grab the medium dark brown bottle with the right arm and shake.",
+    "Shake the hand-sized soda bottle after grabbing it.",
+    "Grab the narrow-necked bottle firmly, shake it, and put it down.",
+    "Use the right arm to hold the dark drink bottle with logo and shake it.",
+    "Grasp the smooth bottle with red lid with the right arm and shake it.",
+    "Shake the the brown bottle with red label properly after lifting.",
+    "Use the right arm to pick and shake the plastic drink bottle.",
+    "Use the right arm to grab the long thin bottle and shake it.",
+    "Pick the dark drink bottle with logo and perform shaking motion.",
+    "Hold the narrow-necked bottle and shake it properly.",
+    "Utilize the right arm to hold the Coca-Cola bottle and shake it.",
+    "Use the right arm to lift and shake the Coca-Cola bottle.",
+    "Hold the bottle with ridges on bottom with the right arm and shake lightly.",
+    "Lift the brown bottle with red label and shake it thoroughly.",
+    "Use the right arm to lift and shake the dark drink bottle with logo.",
+    "Shake the red-capped bottle after lifting it.",
+    "Use the right arm to grab the hand-sized soda bottle and shake properly.",
+    "Pick the hand-sized soda bottle, shake it with the right arm.",
+    "Shake the long thin bottle thoroughly after grabbing it.",
+    "Grip the bottle with ridges on bottom using the right arm and shake.",
+    "Grab the brown bottle with red label using the right arm, then shake.",
+    "Secure the red-capped bottle and perform a shake.",
+    "Hold and shake the the dark drink bottle with logo carefully.",
+    "Catch the plastic drink bottle and shake it instantly.",
+    "Pick up the Coca-Cola bottle and shake it well.",
+    "Use the right arm to lift and shake the plastic drink bottle.",
+    "Lift the smooth bottle with red lid with the right arm and give it a shake.",
+    "Using the right arm, shake the plastic drink bottle and then place it back.",
+    "Grab the red-capped bottle and shake it steadily.",
+    "Pick up the bottle with ridges on bottom and shake it.",
+    "Take the hand-sized soda bottle using the right arm and give it a shake.",
+    "Grab the Coca-Cola bottle and give it a shake.",
+    "Lift the bottle with ridges on bottom and shake it gently.",
+    "Secure the narrow-necked bottle, shake it, and place it down.",
+    "Shake the brown bottle with red label after holding it firmly.",
+    "Grab the medium dark brown bottle carefully and shake.",
+    "Hold the Coca-Cola bottle, shake it briefly.",
+    "Hold the hand-sized soda bottle steady, then shake it.",
+    "Shake the red-capped bottle after grabbing it.",
+    "Shake the bottle with ridges on bottom firmly after grabbing.",
+    "Shake the bottle with ridges on bottom using the right arm after grabbing.",
+    "Grab and shake the brown bottle with red label using the right arm.",
+    "Lift the brown bottle with red label with the right arm and shake.",
+    "Pick the Coca-Cola bottle up using the right arm and shake it.",
+    "Lift the bottle with white neck and red top with the right arm and shake it.",
+    "Lift up the red-capped bottle using the right arm, then shake.",
+    "Grab the medium dark brown bottle and move it to shake.",
+    "With the right arm, pick the smooth bottle with red lid and shake properly.",
+    "Shake the Coca-Cola bottle after grabbing it.",
+    "Pick the red-capped bottle up with the right arm and shake.",
+    "Grab the dark drink bottle with logo with the right arm and shake.",
+    "Shake the hand-sized soda bottle after grabbing it.",
+    "Grab the narrow-necked bottle firmly, shake it, and put it down.",
+    "Use the right arm to hold the hand-sized soda bottle and shake it.",
+    "Grasp the Coca-Cola bottle with the right arm and shake it.",
+    "Shake the the brown bottle with red label properly after lifting.",
+    "Use the right arm to pick and shake the narrow-necked bottle.",
+    "Use the right arm to grab the medium dark brown bottle and shake it.",
+    "Pick the plastic drink bottle and perform shaking motion.",
+    "Hold the bottle with white neck and red top and shake it properly.",
+    "Utilize the right arm to hold the narrow-necked bottle and shake it.",
+    "Use the right arm to lift and shake the brown bottle with red label.",
+    "Hold the red-capped bottle with the right arm and shake lightly.",
+    "Lift the bottle with ridges on bottom and shake it thoroughly.",
+    "Use the right arm to lift and shake the brown bottle with red label.",
+    "Shake the hand-sized soda bottle after lifting it.",
+    "Use the right arm to grab the Coca-Cola bottle and shake properly."
+  ],
+  "unseen": [
+    "Grab the plastic soda bottle and shake it.",
+    "Pick up the plastic soda bottle with the right arm and shake.",
+    "Grab the brown bottle and give it a shake.",
+    "Use the right arm to pick the plastic soda bottle.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Shake the bottle with red screw cap after picking it with the right arm.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Grab the plastic soda bottle and shake it.",
+    "Pick up the plastic soda bottle with the right arm and shake.",
+    "Grab the bottle with red screw cap and give it a shake.",
+    "Use the right arm to pick the plastic soda bottle.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Pick and shake the the bottle with red screw cap with the right arm.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Grab the plastic soda bottle and shake it.",
+    "Pick up the bottle with red screw cap with the right arm and shake.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Use the right arm to pick the brown bottle.",
+    "Use the right arm to grab the plastic soda bottle and shake.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Shake the bottle with red screw cap after picking it with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Pick and shake the the bottle with red screw cap with the right arm.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Grab the brown bottle and shake it.",
+    "Pick up the bottle with red screw cap with the right arm and shake.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Use the right arm to pick the bottle with red screw cap.",
+    "Use the right arm to grab the bottle with red screw cap and shake.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Shake the plastic soda bottle after picking it with the right arm.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Grab the plastic soda bottle and shake it.",
+    "Pick up the bottle with red screw cap with the right arm and shake.",
+    "Grab the bottle with red screw cap and give it a shake.",
+    "Use the right arm to pick the bottle with red screw cap.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Grab the brown bottle and shake it.",
+    "Pick up the plastic soda bottle with the right arm and shake.",
+    "Grab the bottle with red screw cap and give it a shake.",
+    "Use the right arm to pick the brown bottle.",
+    "Use the right arm to grab the plastic soda bottle and shake.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Pick and shake the the bottle with red screw cap with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the brown bottle and shake it.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Grab the bottle with red screw cap and give it a shake.",
+    "Use the right arm to pick the plastic soda bottle.",
+    "Use the right arm to grab the plastic soda bottle and shake.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Shake the bottle with red screw cap after picking it with the right arm.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Grab the plastic soda bottle and shake it.",
+    "Pick up the bottle with red screw cap with the right arm and shake.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Use the right arm to pick the plastic soda bottle.",
+    "Use the right arm to grab the plastic soda bottle and shake.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Shake the plastic soda bottle after picking it with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Pick and shake the the bottle with red screw cap with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Grab the bottle with red screw cap and give it a shake.",
+    "Use the right arm to pick the brown bottle.",
+    "Use the right arm to grab the bottle with red screw cap and shake.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Shake the bottle with red screw cap after picking it with the right arm.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Pick up the bottle with red screw cap with the right arm and shake.",
+    "Grab the brown bottle and give it a shake.",
+    "Use the right arm to pick the bottle with red screw cap.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Pick and shake the the bottle with red screw cap with the right arm.",
+    "Pick up the brown bottle and shake it."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002091.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the small brown plastic bottle with the right arm and shake.",
+    "Take the small brown plastic bottle using the right arm and give it a shake.",
+    "Grab the small drink bottle with logo firmly, shake it, and put it down.",
+    "Shake the smooth plastic bottle for beverages after grabbing it.",
+    "Grasp the bottle with tapered cylindrical shape with the right arm and shake it.",
+    "Shake the cylindrical bottle with white label after lifting it.",
+    "Grab the brown bottle with white printed label with the right arm and shake.",
+    "Pick the hand-sized bottle with grooves and perform shaking motion.",
+    "Pick the small brown plastic bottle, shake it with the right arm.",
+    "Hold the brown bottle with green screw-on cap, shake it briefly.",
+    "Hold the brown bottle steady, then shake it.",
+    "Pick the cylindrical bottle with white label up with the right arm and shake.",
+    "Use the right arm to pick and shake the smooth plastic bottle for beverages.",
+    "Hold the small drink bottle with logo with the right arm and shake lightly.",
+    "Use the right arm to grab the bottle with green cap and shake properly.",
+    "Pick up the green-capped bottle and shake it.",
+    "Hold and shake the the hand-sized bottle with grooves carefully.",
+    "Grab the plastic bottle with ribbed pattern using the right arm, then shake.",
+    "Use the right arm to hold the brown bottle and shake it.",
+    "Catch the bottle with green cap and shake it instantly.",
+    "Lift the bottle with tapered cylindrical shape with the right arm and shake it.",
+    "Hold the cylindrical bottle with white label and shake it properly.",
+    "Use the right arm to lift and shake the bottle with tapered cylindrical shape.",
+    "Use the right arm to lift and shake the bottle with tapered cylindrical shape.",
+    "Grab the cylindrical bottle with white label and move it to shake.",
+    "Shake the small brown plastic bottle after holding it firmly.",
+    "Grab and shake the green-capped bottle using the right arm.",
+    "Grab the bottle with tapered cylindrical shape and give it a shake.",
+    "Utilize the right arm to hold the bottle with tapered cylindrical shape and shake it.",
+    "Lift the brown bottle and shake it thoroughly.",
+    "Lift the brown bottle with white printed label with the right arm and give it a shake.",
+    "Using the right arm, shake the plastic bottle with ribbed pattern and then place it back.",
+    "Use the right arm to lift and shake the brown bottle with green screw-on cap.",
+    "Secure the green-capped bottle, shake it, and place it down.",
+    "Lift up the bottle with green cap using the right arm, then shake.",
+    "Grab the bottle with tapered cylindrical shape and shake it steadily.",
+    "Lift the brown bottle and shake it gently.",
+    "Shake the cylindrical bottle with white label after grabbing it.",
+    "Shake the brown bottle using the right arm after grabbing.",
+    "Shake the smooth plastic bottle for beverages after grabbing it.",
+    "Use the right arm to grab the bottle with green cap and shake it.",
+    "Grab the plastic bottle with ribbed pattern carefully and shake.",
+    "Shake the small brown plastic bottle firmly after grabbing.",
+    "Pick up the brown bottle with green screw-on cap and shake it well.",
+    "Shake the brown bottle with green screw-on cap thoroughly after grabbing it.",
+    "With the right arm, pick the brown bottle with white printed label and shake properly.",
+    "Pick the small drink bottle with logo up using the right arm and shake it.",
+    "Shake the the bottle with green cap properly after lifting.",
+    "Grip the brown bottle with white printed label using the right arm and shake.",
+    "Secure the small drink bottle with logo and perform a shake.",
+    "Lift the small brown plastic bottle with the right arm and shake.",
+    "Take the small brown plastic bottle using the right arm and give it a shake.",
+    "Grab the brown bottle with white printed label firmly, shake it, and put it down.",
+    "Shake the green-capped bottle after grabbing it.",
+    "Grasp the brown bottle with green screw-on cap with the right arm and shake it.",
+    "Shake the plastic bottle with ribbed pattern after lifting it.",
+    "Grab the smooth plastic bottle for beverages with the right arm and shake.",
+    "Pick the small brown plastic bottle and perform shaking motion.",
+    "Pick the plastic bottle with ribbed pattern, shake it with the right arm.",
+    "Hold the green-capped bottle, shake it briefly.",
+    "Hold the bottle with tapered cylindrical shape steady, then shake it.",
+    "Pick the hand-sized bottle with grooves up with the right arm and shake.",
+    "Use the right arm to pick and shake the brown bottle with white printed label.",
+    "Hold the small drink bottle with logo with the right arm and shake lightly.",
+    "Use the right arm to grab the brown bottle with green screw-on cap and shake properly.",
+    "Pick up the brown bottle with green screw-on cap and shake it.",
+    "Hold and shake the the green-capped bottle carefully.",
+    "Grab the brown bottle with green screw-on cap using the right arm, then shake.",
+    "Use the right arm to hold the brown bottle with green screw-on cap and shake it.",
+    "Catch the smooth plastic bottle for beverages and shake it instantly.",
+    "Lift the brown bottle with green screw-on cap with the right arm and shake it.",
+    "Hold the smooth plastic bottle for beverages and shake it properly.",
+    "Use the right arm to lift and shake the hand-sized bottle with grooves.",
+    "Use the right arm to lift and shake the hand-sized bottle with grooves.",
+    "Grab the hand-sized bottle with grooves and move it to shake.",
+    "Shake the hand-sized bottle with grooves after holding it firmly.",
+    "Grab and shake the plastic bottle with ribbed pattern using the right arm.",
+    "Grab the green-capped bottle and give it a shake.",
+    "Utilize the right arm to hold the smooth plastic bottle for beverages and shake it.",
+    "Lift the brown bottle with green screw-on cap and shake it thoroughly.",
+    "Lift the smooth plastic bottle for beverages with the right arm and give it a shake.",
+    "Using the right arm, shake the small drink bottle with logo and then place it back.",
+    "Use the right arm to lift and shake the cylindrical bottle with white label.",
+    "Secure the brown bottle, shake it, and place it down.",
+    "Lift up the brown bottle with white printed label using the right arm, then shake.",
+    "Grab the brown bottle with white printed label and shake it steadily.",
+    "Lift the brown bottle with green screw-on cap and shake it gently.",
+    "Shake the brown bottle after grabbing it.",
+    "Shake the hand-sized bottle with grooves using the right arm after grabbing.",
+    "Shake the brown bottle after grabbing it.",
+    "Use the right arm to grab the bottle with tapered cylindrical shape and shake it.",
+    "Grab the bottle with tapered cylindrical shape carefully and shake.",
+    "Shake the green-capped bottle firmly after grabbing.",
+    "Pick up the bottle with tapered cylindrical shape and shake it well.",
+    "Shake the plastic bottle with ribbed pattern thoroughly after grabbing it.",
+    "With the right arm, pick the bottle with tapered cylindrical shape and shake properly.",
+    "Pick the small drink bottle with logo up using the right arm and shake it.",
+    "Shake the the bottle with green cap properly after lifting.",
+    "Grip the bottle with green cap using the right arm and shake.",
+    "Secure the green-capped bottle and perform a shake."
+  ],
+  "unseen": [
+    "Pick and shake the the bottle with coffee-colored body with the right arm.",
+    "Shake the plastic Starbucks bottle after picking it with the right arm.",
+    "Grab the bottle with Starbucks logo on label and give it a shake.",
+    "Use the right arm to grab the bottle with coffee-colored body and shake.",
+    "Use the right arm to pick the bottle with Starbucks logo on label.",
+    "Grab the bottle with coffee-colored body, shake it properly, then set it down.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Grab the plastic Starbucks bottle and shake it.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Pick up the bottle with coffee-colored body with the right arm and shake.",
+    "Pick and shake the the bottle with coffee-colored body with the right arm.",
+    "Shake the bottle with Starbucks logo on label after picking it with the right arm.",
+    "Grab the bottle with Starbucks logo on label and give it a shake.",
+    "Use the right arm to grab the plastic Starbucks bottle and shake.",
+    "Use the right arm to pick the bottle with coffee-colored body.",
+    "Grab the bottle with coffee-colored body, shake it properly, then set it down.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Grab the plastic Starbucks bottle and shake it.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Pick up the bottle with coffee-colored body with the right arm and shake.",
+    "Pick and shake the the plastic Starbucks bottle with the right arm.",
+    "Shake the bottle with coffee-colored body after picking it with the right arm.",
+    "Grab the bottle with coffee-colored body and give it a shake.",
+    "Use the right arm to grab the plastic Starbucks bottle and shake.",
+    "Use the right arm to pick the bottle with coffee-colored body.",
+    "Grab the plastic Starbucks bottle, shake it properly, then set it down.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Grab the plastic Starbucks bottle and shake it.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Pick up the bottle with Starbucks logo on label with the right arm and shake.",
+    "Pick and shake the the bottle with coffee-colored body with the right arm.",
+    "Shake the bottle with Starbucks logo on label after picking it with the right arm.",
+    "Grab the plastic Starbucks bottle and give it a shake.",
+    "Use the right arm to grab the plastic Starbucks bottle and shake.",
+    "Use the right arm to pick the bottle with Starbucks logo on label.",
+    "Grab the bottle with coffee-colored body, shake it properly, then set it down.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Grab the plastic Starbucks bottle and shake it.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Pick up the plastic Starbucks bottle with the right arm and shake.",
+    "Pick and shake the the plastic Starbucks bottle with the right arm.",
+    "Shake the plastic Starbucks bottle after picking it with the right arm.",
+    "Grab the bottle with coffee-colored body and give it a shake.",
+    "Use the right arm to grab the bottle with coffee-colored body and shake.",
+    "Use the right arm to pick the bottle with Starbucks logo on label.",
+    "Grab the bottle with coffee-colored body, shake it properly, then set it down.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Grab the bottle with coffee-colored body and shake it.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Pick up the plastic Starbucks bottle with the right arm and shake.",
+    "Pick and shake the the bottle with Starbucks logo on label with the right arm.",
+    "Shake the plastic Starbucks bottle after picking it with the right arm.",
+    "Grab the bottle with Starbucks logo on label and give it a shake.",
+    "Use the right arm to grab the plastic Starbucks bottle and shake.",
+    "Use the right arm to pick the bottle with coffee-colored body.",
+    "Grab the bottle with coffee-colored body, shake it properly, then set it down.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Grab the bottle with coffee-colored body and shake it.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Pick up the plastic Starbucks bottle with the right arm and shake.",
+    "Pick and shake the the plastic Starbucks bottle with the right arm.",
+    "Shake the bottle with coffee-colored body after picking it with the right arm.",
+    "Grab the bottle with Starbucks logo on label and give it a shake.",
+    "Use the right arm to grab the bottle with coffee-colored body and shake.",
+    "Use the right arm to pick the bottle with coffee-colored body.",
+    "Grab the plastic Starbucks bottle, shake it properly, then set it down.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Grab the bottle with coffee-colored body and shake it.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Pick up the plastic Starbucks bottle with the right arm and shake.",
+    "Pick and shake the the bottle with coffee-colored body with the right arm.",
+    "Shake the bottle with coffee-colored body after picking it with the right arm.",
+    "Grab the plastic Starbucks bottle and give it a shake.",
+    "Use the right arm to grab the bottle with Starbucks logo on label and shake.",
+    "Use the right arm to pick the bottle with coffee-colored body.",
+    "Grab the plastic Starbucks bottle, shake it properly, then set it down.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Grab the bottle with coffee-colored body and shake it.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Pick up the bottle with Starbucks logo on label with the right arm and shake.",
+    "Pick and shake the the bottle with coffee-colored body with the right arm.",
+    "Shake the plastic Starbucks bottle after picking it with the right arm.",
+    "Grab the plastic Starbucks bottle and give it a shake.",
+    "Use the right arm to grab the bottle with coffee-colored body and shake.",
+    "Use the right arm to pick the bottle with Starbucks logo on label.",
+    "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Grab the bottle with Starbucks logo on label and shake it.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Pick up the bottle with coffee-colored body with the right arm and shake.",
+    "Pick and shake the the plastic Starbucks bottle with the right arm.",
+    "Shake the plastic Starbucks bottle after picking it with the right arm.",
+    "Grab the bottle with Starbucks logo on label and give it a shake.",
+    "Use the right arm to grab the bottle with coffee-colored body and shake.",
+    "Use the right arm to pick the bottle with coffee-colored body.",
+    "Grab the plastic Starbucks bottle, shake it properly, then set it down.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Grab the bottle with Starbucks logo on label and shake it.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Pick up the plastic Starbucks bottle with the right arm and shake."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002101.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab and shake the Coca-Cola bottle using the left arm.",
+    "Use the left arm to grab the narrow-necked bottle and shake it.",
+    "Use the left arm to grab the Coca-Cola bottle and shake properly.",
+    "Take the narrow-necked bottle using the left arm and give it a shake.",
+    "Lift the brown bottle with red label with the left arm and shake it.",
+    "Catch the red-capped bottle and shake it instantly.",
+    "Pick the hand-sized soda bottle and perform shaking motion.",
+    "Use the left arm to hold the bottle with white neck and red top and shake it.",
+    "Use the left arm to pick and shake the plastic drink bottle.",
+    "Pick the red-capped bottle up with the left arm and shake.",
+    "Utilize the left arm to hold the brown bottle with red label and shake it.",
+    "Shake the long thin bottle after grabbing it.",
+    "Grab the medium dark brown bottle and move it to shake.",
+    "Grip the narrow-necked bottle using the left arm and shake.",
+    "Hold the red-capped bottle and shake it properly.",
+    "Lift the dark drink bottle with logo and shake it gently.",
+    "Grab the narrow-necked bottle and shake it steadily.",
+    "With the left arm, pick the bottle with white neck and red top and shake properly.",
+    "Hold the plastic drink bottle steady, then shake it.",
+    "Hold and shake the the medium dark brown bottle carefully.",
+    "Secure the long thin bottle, shake it, and place it down.",
+    "Grab the smooth bottle with red lid and give it a shake.",
+    "Shake the dark drink bottle with logo using the left arm after grabbing.",
+    "Pick the long thin bottle, shake it with the left arm.",
+    "Grab the bottle with white neck and red top with the left arm and shake.",
+    "Shake the smooth bottle with red lid after grabbing it.",
+    "Use the left arm to lift and shake the medium dark brown bottle.",
+    "Pick up the brown bottle with red label and shake it well.",
+    "Hold the long thin bottle with the left arm and shake lightly.",
+    "Shake the long thin bottle thoroughly after grabbing it.",
+    "Use the left arm to lift and shake the Coca-Cola bottle.",
+    "Grab the narrow-necked bottle carefully and shake.",
+    "Pick up the hand-sized soda bottle and shake it.",
+    "Shake the smooth bottle with red lid firmly after grabbing.",
+    "Grab the brown bottle with red label firmly, shake it, and put it down.",
+    "Use the left arm to lift and shake the bottle with white neck and red top.",
+    "Shake the smooth bottle with red lid after holding it firmly.",
+    "Using the left arm, shake the medium dark brown bottle and then place it back.",
+    "Grasp the plastic drink bottle with the left arm and shake it.",
+    "Hold the medium dark brown bottle, shake it briefly.",
+    "Grab the Coca-Cola bottle using the left arm, then shake.",
+    "Lift the dark drink bottle with logo and shake it thoroughly.",
+    "Pick the brown bottle with red label up using the left arm and shake it.",
+    "Secure the dark drink bottle with logo and perform a shake.",
+    "Shake the the brown bottle with red label properly after lifting.",
+    "Lift up the bottle with ridges on bottom using the left arm, then shake.",
+    "Shake the bottle with white neck and red top after lifting it.",
+    "Lift the medium dark brown bottle with the left arm and shake.",
+    "Lift the smooth bottle with red lid with the left arm and give it a shake.",
+    "Shake the dark drink bottle with logo after grabbing it.",
+    "Grab and shake the long thin bottle using the left arm.",
+    "Use the left arm to grab the bottle with white neck and red top and shake it.",
+    "Use the left arm to grab the brown bottle with red label and shake properly.",
+    "Take the Coca-Cola bottle using the left arm and give it a shake.",
+    "Lift the plastic drink bottle with the left arm and shake it.",
+    "Catch the red-capped bottle and shake it instantly.",
+    "Pick the smooth bottle with red lid and perform shaking motion.",
+    "Use the left arm to hold the dark drink bottle with logo and shake it.",
+    "Use the left arm to pick and shake the brown bottle with red label.",
+    "Pick the bottle with ridges on bottom up with the left arm and shake.",
+    "Utilize the left arm to hold the bottle with white neck and red top and shake it.",
+    "Shake the Coca-Cola bottle after grabbing it.",
+    "Grab the narrow-necked bottle and move it to shake.",
+    "Grip the brown bottle with red label using the left arm and shake.",
+    "Hold the bottle with white neck and red top and shake it properly.",
+    "Lift the bottle with ridges on bottom and shake it gently.",
+    "Grab the smooth bottle with red lid and shake it steadily.",
+    "With the left arm, pick the dark drink bottle with logo and shake properly.",
+    "Hold the bottle with white neck and red top steady, then shake it.",
+    "Hold and shake the the bottle with ridges on bottom carefully.",
+    "Secure the Coca-Cola bottle, shake it, and place it down.",
+    "Grab the bottle with ridges on bottom and give it a shake.",
+    "Shake the bottle with ridges on bottom using the left arm after grabbing.",
+    "Pick the medium dark brown bottle, shake it with the left arm.",
+    "Grab the narrow-necked bottle with the left arm and shake.",
+    "Shake the narrow-necked bottle after grabbing it.",
+    "Use the left arm to lift and shake the dark drink bottle with logo.",
+    "Pick up the Coca-Cola bottle and shake it well.",
+    "Hold the narrow-necked bottle with the left arm and shake lightly.",
+    "Shake the Coca-Cola bottle thoroughly after grabbing it.",
+    "Use the left arm to lift and shake the plastic drink bottle.",
+    "Grab the Coca-Cola bottle carefully and shake.",
+    "Pick up the red-capped bottle and shake it.",
+    "Shake the brown bottle with red label firmly after grabbing.",
+    "Grab the smooth bottle with red lid firmly, shake it, and put it down.",
+    "Use the left arm to lift and shake the narrow-necked bottle.",
+    "Shake the dark drink bottle with logo after holding it firmly.",
+    "Using the left arm, shake the Coca-Cola bottle and then place it back.",
+    "Grasp the bottle with white neck and red top with the left arm and shake it.",
+    "Hold the Coca-Cola bottle, shake it briefly.",
+    "Grab the long thin bottle using the left arm, then shake.",
+    "Lift the hand-sized soda bottle and shake it thoroughly.",
+    "Pick the plastic drink bottle up using the left arm and shake it.",
+    "Secure the brown bottle with red label and perform a shake.",
+    "Shake the the red-capped bottle properly after lifting.",
+    "Lift up the dark drink bottle with logo using the left arm, then shake.",
+    "Shake the bottle with white neck and red top after lifting it.",
+    "Lift the Coca-Cola bottle with the left arm and shake.",
+    "Lift the narrow-necked bottle with the left arm and give it a shake.",
+    "Shake the bottle with white neck and red top after grabbing it."
+  ],
+  "unseen": [
+    "Grab the plastic soda bottle and give it a shake.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Pick and shake the the bottle with red screw cap with the left arm.",
+    "Use the left arm to grab the plastic soda bottle and shake.",
+    "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 brown bottle after picking it with the left arm.",
+    "Pick up the bottle with red screw cap with the left arm and shake.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Pick and shake the the plastic soda bottle with the left arm.",
+    "Use the left arm to grab the plastic soda bottle and shake.",
+    "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 brown bottle after picking it with the left arm.",
+    "Pick up the plastic soda bottle with the left arm and shake.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "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.",
+    "Pick up the plastic soda bottle with the left arm and shake.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Grab the bottle with red screw cap and give it a shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick and shake the the plastic soda bottle with the left arm.",
+    "Use the left arm to grab the bottle with red screw cap and shake.",
+    "Pick up the bottle with red screw cap 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 bottle with red screw cap after picking it with the left arm.",
+    "Pick up the brown bottle with the left arm and shake.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Pick and shake the the plastic soda bottle 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.",
+    "Use the left arm to pick the bottle with red screw cap.",
+    "Grab the plastic soda bottle and shake it.",
+    "Shake the bottle with red screw cap after picking it with the left arm.",
+    "Pick up the plastic soda bottle with the left arm and shake.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Grab the bottle with red screw cap and give it a shake.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Use the left arm to grab the plastic soda bottle and shake.",
+    "Pick up the brown bottle and shake it.",
+    "Use the left arm to pick the bottle with red screw cap.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Shake the plastic soda bottle after picking it with the left arm.",
+    "Pick up the bottle with red screw cap with the left arm and shake.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick and shake the the bottle with red screw cap 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.",
+    "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.",
+    "Pick up the plastic soda bottle with the left arm and shake.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Pick and shake the the bottle with red screw cap with the left arm.",
+    "Use the left arm to grab the plastic soda bottle and shake.",
+    "Pick up the brown bottle and shake it.",
+    "Use the left arm to pick the bottle with red screw cap.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Shake the bottle with red screw cap after picking it with the left arm.",
+    "Pick up the plastic soda bottle with the left arm and shake.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Grab the bottle with red screw cap and give it a shake.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Pick and shake the the plastic soda bottle with the left arm.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Pick up the brown bottle and shake it.",
+    "Use the left arm to pick the brown bottle.",
+    "Grab the brown bottle and shake it.",
+    "Shake the bottle with red screw cap after picking it with the left arm.",
+    "Pick up the bottle with red screw cap with the left arm and shake.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick and shake the the bottle with red screw cap 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.",
+    "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.",
+    "Pick up the brown bottle with the left arm and shake.",
+    "Grab the brown bottle, shake it properly, then set it down."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002106.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the green bottle with indented base carefully and shake.",
+    "Shake the medium green bottle with capped neck after lifting it.",
+    "Grab the bottle with ridges near base firmly, shake it, and put it down.",
+    "Grab and shake the plastic bottle using the right arm.",
+    "Shake the bottle with ridges near base after holding it firmly.",
+    "Hold the smooth green bottle, shake it briefly.",
+    "Use the right arm to lift and shake the bottle with white printed label.",
+    "Catch the handheld green bottle and shake it instantly.",
+    "Pick up the medium green bottle and shake it well.",
+    "With the right arm, pick the medium green bottle with capped neck and shake properly.",
+    "Shake the plastic bottle after grabbing it.",
+    "Pick the bottle with rounded neck, shake it with the right arm.",
+    "Secure the bottle with narrow top, shake it, and place it down.",
+    "Hold the plastic bottle with the right arm and shake lightly.",
+    "Shake the the smooth green plastic bottle properly after lifting.",
+    "Grab the bottle with white printed label and shake it steadily.",
+    "Shake the bottle with rounded neck after grabbing it.",
+    "Lift up the bottle with rounded neck using the right arm, then shake.",
+    "Using the right arm, shake the medium green bottle with capped neck and then place it back.",
+    "Lift the bottle with white printed label with the right arm and shake.",
+    "Shake the handheld green bottle firmly after grabbing.",
+    "Use the right arm to grab the bottle with rounded neck and shake it.",
+    "Pick the medium green bottle up with the right arm and shake.",
+    "Lift the medium-sized green bottle and shake it gently.",
+    "Take the smooth green plastic bottle using the right arm and give it a shake.",
+    "Grab the smooth green bottle with the right arm and shake.",
+    "Lift the handheld green bottle with the right arm and shake it.",
+    "Pick the handheld green bottle up using the right arm and shake it.",
+    "Grab the handheld green bottle and move it to shake.",
+    "Shake the bottle with rounded neck thoroughly after grabbing it.",
+    "Use the right arm to lift and shake the smooth green bottle.",
+    "Utilize the right arm to hold the medium-sized green bottle and shake it.",
+    "Grip the smooth green plastic bottle using the right arm and shake.",
+    "Use the right arm to hold the bottle with ridges near base and shake it.",
+    "Secure the bottle with rounded neck and perform a shake.",
+    "Shake the smooth green plastic bottle using the right arm after grabbing.",
+    "Use the right arm to pick and shake the smooth green plastic bottle.",
+    "Pick up the handheld green bottle and shake it.",
+    "Use the right arm to lift and shake the bottle with rounded neck.",
+    "Use the right arm to grab the medium-sized green bottle and shake properly.",
+    "Lift the bottle with rounded neck with the right arm and give it a shake.",
+    "Grasp the smooth green bottle with the right arm and shake it.",
+    "Pick the green bottle with indented base and perform shaking motion.",
+    "Shake the bottle with ridges near base after grabbing it.",
+    "Grab the smooth green plastic bottle and give it a shake.",
+    "Lift the bottle with ridges near base and shake it thoroughly.",
+    "Grab the medium-sized green bottle using the right arm, then shake.",
+    "Hold the bottle with narrow top and shake it properly.",
+    "Hold and shake the the bottle with narrow top carefully.",
+    "Hold the plastic bottle steady, then shake it.",
+    "Grab the bottle with ridges near base carefully and shake.",
+    "Shake the bottle with white printed label after lifting it.",
+    "Grab the smooth green bottle firmly, shake it, and put it down.",
+    "Grab and shake the medium green bottle using the right arm.",
+    "Shake the bottle with ridges near base after holding it firmly.",
+    "Hold the medium green bottle with capped neck, shake it briefly.",
+    "Use the right arm to lift and shake the bottle with ridges near base.",
+    "Catch the smooth green plastic bottle and shake it instantly.",
+    "Pick up the bottle with rounded neck and shake it well.",
+    "With the right arm, pick the medium green bottle with capped neck and shake properly.",
+    "Shake the medium green bottle with capped neck after grabbing it.",
+    "Pick the medium green bottle, shake it with the right arm.",
+    "Secure the bottle with ridges near base, shake it, and place it down.",
+    "Hold the medium-sized green bottle with the right arm and shake lightly.",
+    "Shake the the green bottle with indented base properly after lifting.",
+    "Grab the bottle with narrow top and shake it steadily.",
+    "Shake the bottle with rounded neck after grabbing it.",
+    "Lift up the medium green bottle with capped neck using the right arm, then shake.",
+    "Using the right arm, shake the smooth green bottle and then place it back.",
+    "Lift the smooth green bottle with the right arm and shake.",
+    "Shake the bottle with narrow top firmly after grabbing.",
+    "Use the right arm to grab the medium green bottle and shake it.",
+    "Pick the medium-sized green bottle up with the right arm and shake.",
+    "Lift the bottle with rounded neck and shake it gently.",
+    "Take the plastic bottle using the right arm and give it a shake.",
+    "Grab the bottle with rounded neck with the right arm and shake.",
+    "Lift the medium green bottle with capped neck with the right arm and shake it.",
+    "Pick the plastic bottle up using the right arm and shake it.",
+    "Grab the medium green bottle with capped neck and move it to shake.",
+    "Shake the bottle with narrow top thoroughly after grabbing it.",
+    "Use the right arm to lift and shake the medium green bottle.",
+    "Utilize the right arm to hold the smooth green bottle and shake it.",
+    "Grip the bottle with ridges near base using the right arm and shake.",
+    "Use the right arm to hold the bottle with white printed label and shake it.",
+    "Secure the bottle with rounded neck and perform a shake.",
+    "Shake the bottle with ridges near base using the right arm after grabbing.",
+    "Use the right arm to pick and shake the bottle with ridges near base.",
+    "Pick up the medium green bottle and shake it.",
+    "Use the right arm to lift and shake the green bottle with indented base.",
+    "Use the right arm to grab the bottle with narrow top and shake properly.",
+    "Lift the medium green bottle with the right arm and give it a shake.",
+    "Grasp the bottle with white printed label with the right arm and shake it.",
+    "Pick the bottle with narrow top and perform shaking motion.",
+    "Shake the handheld green bottle after grabbing it.",
+    "Grab the medium green bottle and give it a shake.",
+    "Lift the bottle with white printed label and shake it thoroughly.",
+    "Grab the medium green bottle using the right arm, then shake.",
+    "Hold the medium-sized green bottle and shake it properly.",
+    "Hold and shake the the plastic bottle carefully.",
+    "Hold the bottle with ridges near base steady, then shake it."
+  ],
+  "unseen": [
+    "Use the right arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the right arm.",
+    "Pick up the green bottle with white label with the right arm and shake.",
+    "Use the right arm to pick the green bottle.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "Shake the green plastic bottle with ridged bottom after picking it with the right arm.",
+    "Pick up the green bottle with white label and shake it.",
+    "Grab the green bottle with white label 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.",
+    "Use the right arm to grab the green bottle and shake.",
+    "Pick and shake the the green bottle with the right arm.",
+    "Pick up the green bottle with the right arm and shake.",
+    "Use the right arm to pick the green plastic bottle with ridged bottom.",
+    "Grab the green bottle and give it a shake.",
+    "Shake the green plastic bottle with ridged bottom after picking it with the right arm.",
+    "Pick up the green bottle and shake it.",
+    "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.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Pick and shake the the green bottle with white label with the right arm.",
+    "Pick up the green bottle with the right arm and shake.",
+    "Use the right arm to pick the green bottle.",
+    "Grab the green bottle and give it a shake.",
+    "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.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green bottle with white label, shake it properly, then set it down.",
+    "Pick up the green bottle with white label and shake it.",
+    "Use the right arm to grab the green bottle with white label and shake.",
+    "Pick and shake the the green bottle with white label with the right arm.",
+    "Pick up the green bottle with the right arm and shake.",
+    "Use the right arm to pick the green bottle.",
+    "Grab the green bottle and give it a shake.",
+    "Shake the green plastic bottle with ridged bottom after picking it with the right arm.",
+    "Pick up the green bottle and shake it.",
+    "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 plastic bottle with ridged bottom and shake it.",
+    "Use the right arm to grab the green bottle and shake.",
+    "Pick and shake the the green bottle with white label with the right arm.",
+    "Pick up the green plastic bottle with ridged bottom with the right arm and shake.",
+    "Use the right arm to pick the green plastic bottle with ridged bottom.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "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.",
+    "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 bottle and shake it.",
+    "Use the right arm to grab the green bottle and shake.",
+    "Pick and shake the the green bottle with white label with the right arm.",
+    "Pick up the green bottle with white label with the right arm and shake.",
+    "Use the right arm to pick the green bottle with white label.",
+    "Grab the green bottle and give it a shake.",
+    "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.",
+    "Grab the green bottle with white label and shake it.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Pick up the green bottle with white label and shake it.",
+    "Use the right arm to grab the green bottle and shake.",
+    "Pick and shake the the green bottle with the right arm.",
+    "Pick up the green bottle with the right arm and shake.",
+    "Use the right arm to pick the green plastic bottle with ridged bottom.",
+    "Grab the green bottle with white label and give it a shake.",
+    "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.",
+    "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.",
+    "Use the right arm to grab the green bottle and shake.",
+    "Pick and shake the the green bottle with the right arm.",
+    "Pick up the green plastic bottle with ridged bottom with the right arm and shake.",
+    "Use the right arm to pick the green bottle with white label.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Shake the green plastic bottle with ridged bottom after picking it with the right arm.",
+    "Pick up the green bottle with white label and shake it.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green bottle with white label, shake it properly, then set it down.",
+    "Pick up the green bottle and shake it.",
+    "Use the right arm to grab the green bottle and shake.",
+    "Pick and shake the the green bottle with white label with the right arm.",
+    "Pick up the green bottle with white label with the right arm and shake.",
+    "Use the right arm to pick the green bottle with white label.",
+    "Grab the green bottle and give it a shake.",
+    "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.",
+    "Grab the green bottle and shake it.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Pick up the green bottle and shake it.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Pick and shake the the green bottle with the right arm.",
+    "Pick up the green bottle with white label with the right arm and shake.",
+    "Use the right arm to pick the green bottle with white label.",
+    "Grab the green bottle and give it a shake.",
+    "Shake the green bottle with white label after picking it with the right arm.",
+    "Pick up the green bottle with white label and shake it.",
+    "Grab the green bottle with white label and shake it.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Pick up the green bottle with white label and shake it."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002118.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the plastic bottle with colorful label after holding it firmly.",
+    "Hold the plastic bottle with colorful label and shake it properly.",
+    "Using the right arm, shake the black bottle and then place it back.",
+    "Hold the smooth black bottle with ridges steady, then shake it.",
+    "Grab the black bottle and shake it steadily.",
+    "Shake the drink bottle with rounded yellow lid after grabbing it.",
+    "Grab the bottle with blue and yellow print using the right arm, then shake.",
+    "Grip the medium bottle with yellow cap using the right arm and shake.",
+    "Use the right arm to grab the black cylindrical bottle with ridges and shake it.",
+    "Shake the yellow capped drink bottle after grabbing it.",
+    "Shake the the bottle with blue and yellow print properly after lifting.",
+    "Grasp the bottle with blue and yellow print with the right arm and shake it.",
+    "Take the bottle with blue and yellow print using the right arm and give it a shake.",
+    "Use the right arm to lift and shake the medium bottle with yellow cap.",
+    "Secure the black cylindrical bottle with ridges, shake it, and place it down.",
+    "Pick up the medium black bottle with printed label and shake it well.",
+    "Hold and shake the the yellow-capped cylindrical bottle carefully.",
+    "Lift up the black plastic bottle with Pepsi logo using the right arm, then shake.",
+    "Lift the beverage bottle with black body with the right arm and shake.",
+    "Pick the medium bottle with yellow cap up using the right arm and shake it.",
+    "Use the right arm to hold the black plastic bottle with Pepsi logo and shake it.",
+    "Pick up the medium black bottle with printed label and shake it.",
+    "Grab and shake the bottle with blue and yellow print using the right arm.",
+    "Use the right arm to grab the medium bottle with yellow cap and shake properly.",
+    "Grab the beverage bottle with black body and move it to shake.",
+    "Utilize the right arm to hold the black cylindrical bottle with ridges and shake it.",
+    "Shake the plastic bottle with colorful label firmly after grabbing.",
+    "Shake the black cylindrical bottle with ridges using the right arm after grabbing.",
+    "With the right arm, pick the black plastic bottle with Pepsi logo and shake properly.",
+    "Lift the black cylindrical bottle with ridges and shake it thoroughly.",
+    "Lift the beverage bottle with black body with the right arm and give it a shake.",
+    "Grab the yellow-capped cylindrical bottle carefully and shake.",
+    "Pick the medium black bottle with printed label up with the right arm and shake.",
+    "Catch the plastic bottle with colorful label and shake it instantly.",
+    "Pick the beverage bottle with black body and perform shaking motion.",
+    "Lift the plastic bottle with colorful label with the right arm and shake it.",
+    "Grab the yellow capped drink bottle with the right arm and shake.",
+    "Hold the medium bottle with yellow cap with the right arm and shake lightly.",
+    "Pick the drink bottle with rounded yellow lid, shake it with the right arm.",
+    "Hold the black cylindrical bottle with ridges, shake it briefly.",
+    "Secure the black cylindrical bottle with ridges and perform a shake.",
+    "Shake the plastic bottle with colorful label thoroughly after grabbing it.",
+    "Use the right arm to lift and shake the black cylindrical bottle with ridges.",
+    "Grab the yellow-capped cylindrical bottle firmly, shake it, and put it down.",
+    "Use the right arm to lift and shake the black plastic bottle with Pepsi logo.",
+    "Lift the bottle with blue and yellow print and shake it gently.",
+    "Grab the medium black bottle with printed label and give it a shake.",
+    "Use the right arm to pick and shake the black cylindrical bottle with ridges.",
+    "Shake the black bottle after lifting it.",
+    "Shake the medium black bottle with printed label after grabbing it.",
+    "Shake the smooth black bottle with ridges after holding it firmly.",
+    "Hold the black plastic bottle with Pepsi logo and shake it properly.",
+    "Using the right arm, shake the drink bottle with rounded yellow lid and then place it back.",
+    "Hold the beverage bottle with black body steady, then shake it.",
+    "Grab the smooth black bottle with ridges and shake it steadily.",
+    "Shake the medium black bottle with printed label after grabbing it.",
+    "Grab the drink bottle with rounded yellow lid using the right arm, then shake.",
+    "Grip the smooth black bottle with ridges using the right arm and shake.",
+    "Use the right arm to grab the medium bottle with yellow cap and shake it.",
+    "Shake the yellow capped drink bottle after grabbing it.",
+    "Shake the the yellow capped drink bottle properly after lifting.",
+    "Grasp the plastic bottle with colorful label with the right arm and shake it.",
+    "Take the drink bottle with rounded yellow lid using the right arm and give it a shake.",
+    "Use the right arm to lift and shake the drink bottle with rounded yellow lid.",
+    "Secure the bottle with blue and yellow print, shake it, and place it down.",
+    "Pick up the yellow capped drink bottle and shake it well.",
+    "Hold and shake the the bottle with blue and yellow print carefully.",
+    "Lift up the bottle with blue and yellow print using the right arm, then shake.",
+    "Lift the medium black bottle with printed label with the right arm and shake.",
+    "Pick the black cylindrical bottle with ridges up using the right arm and shake it.",
+    "Use the right arm to hold the yellow-capped cylindrical bottle and shake it.",
+    "Pick up the yellow-capped cylindrical bottle and shake it.",
+    "Grab and shake the plastic bottle with colorful label using the right arm.",
+    "Use the right arm to grab the medium bottle with yellow cap and shake properly.",
+    "Grab the drink bottle with rounded yellow lid and move it to shake.",
+    "Utilize the right arm to hold the smooth black bottle with ridges and shake it.",
+    "Shake the beverage bottle with black body firmly after grabbing.",
+    "Shake the black plastic bottle with Pepsi logo using the right arm after grabbing.",
+    "With the right arm, pick the yellow-capped cylindrical bottle and shake properly.",
+    "Lift the black cylindrical bottle with ridges and shake it thoroughly.",
+    "Lift the smooth black bottle with ridges with the right arm and give it a shake.",
+    "Grab the beverage bottle with black body carefully and shake.",
+    "Pick the medium black bottle with printed label up with the right arm and shake.",
+    "Catch the medium black bottle with printed label and shake it instantly.",
+    "Pick the black plastic bottle with Pepsi logo and perform shaking motion.",
+    "Lift the black cylindrical bottle with ridges with the right arm and shake it.",
+    "Grab the yellow capped drink bottle with the right arm and shake.",
+    "Hold the smooth black bottle with ridges with the right arm and shake lightly.",
+    "Pick the beverage bottle with black body, shake it with the right arm.",
+    "Hold the plastic bottle with colorful label, shake it briefly.",
+    "Secure the medium black bottle with printed label and perform a shake.",
+    "Shake the black plastic bottle with Pepsi logo thoroughly after grabbing it.",
+    "Use the right arm to lift and shake the plastic bottle with colorful label.",
+    "Grab the drink bottle with rounded yellow lid firmly, shake it, and put it down.",
+    "Use the right arm to lift and shake the drink bottle with rounded yellow lid.",
+    "Lift the black cylindrical bottle with ridges and shake it gently.",
+    "Grab the black plastic bottle with Pepsi logo and give it a shake.",
+    "Use the right arm to pick and shake the black bottle.",
+    "Shake the smooth black bottle with ridges after lifting it.",
+    "Shake the black cylindrical bottle with ridges after grabbing it."
+  ],
+  "unseen": [
+    "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.",
+    "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Shake the plastic bottle with blue label after picking it with the right arm.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the right arm to pick the plastic bottle with blue label.",
+    "Pick and shake the the bottle with ridges near base with the right arm.",
+    "Pick up the bottle with ridges near base with the right arm and shake.",
+    "Use the right arm to grab the bottle with ridges near base and shake.",
+    "Grab the bottle with ridges near base and shake it.",
+    "Shake the plastic bottle with blue label after picking it with the right arm.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Use the right arm to pick the bottle with ridges near base.",
+    "Pick and shake the the bottle with ridges near base with the right arm.",
+    "Pick up the bottle with ridges near base with the right arm and shake.",
+    "Use the right arm to grab the bottle with ridges near base and shake.",
+    "Grab the bottle with ridges near base and shake it.",
+    "Shake the bottle with ridges near base after picking it with the right arm.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Use the right arm to pick the plastic bottle with blue label.",
+    "Pick and shake the the plastic bottle with blue label with the right arm.",
+    "Pick up the bottle with ridges near base with the right arm and shake.",
+    "Use the right arm to grab the bottle with ridges near base and shake.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the right arm to pick the plastic bottle with blue label.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.",
+    "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.",
+    "Use the right arm to grab the plastic bottle with blue label and shake.",
+    "Grab the bottle with ridges near base and shake it.",
+    "Shake the bottle with ridges near base after picking it with the right arm.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the right arm to pick the plastic bottle with blue label.",
+    "Pick and shake the the plastic bottle with blue label with the right arm.",
+    "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.",
+    "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Shake the bottle with ridges near base after picking it with the right arm.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Use the right arm to pick the bottle with ridges near base.",
+    "Pick and shake the the plastic bottle with blue label with the right arm.",
+    "Pick up the plastic bottle with blue label with the right arm and shake.",
+    "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Shake the bottle with ridges near base after picking it with the right arm.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Use the right arm to pick the bottle with ridges near base.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.",
+    "Pick up the bottle with ridges near base with the right arm and shake.",
+    "Use the right arm to grab the bottle with ridges near base and shake.",
+    "Grab the bottle with ridges near base and shake it.",
+    "Shake the bottle with ridges near base after picking it with the right arm.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the right arm to pick the bottle with ridges near base.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.",
+    "Pick up the bottle with ridges near base with the right arm and shake.",
+    "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the right arm to pick the hand-sized bottle with ridged bottom.",
+    "Pick and shake the the plastic bottle with blue label with the right arm.",
+    "Pick up the plastic bottle with blue label with the right arm and shake.",
+    "Use the right arm to grab the plastic bottle with blue label and shake.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Shake the plastic bottle with blue label after picking it with the right arm.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Use the right arm to pick the hand-sized bottle with ridged bottom.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the right arm."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002145.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the plastic bottle up with the left arm and shake.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Pick the yellow bottle with a green design and perform shaking motion.",
+    "Utilize the left arm to hold the bottle with green and white labels and shake it.",
+    "Take the bottle with green and white labels using the left arm and give it a shake.",
+    "Shake the yellow container with rounded edges after grabbing it.",
+    "Using the left arm, shake the yellow bottle and then place it back.",
+    "Lift the medium rectangular yellow bottle 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 label.",
+    "Grab the plastic bottle using the left arm, then shake.",
+    "Shake the yellow bottle with a green design after grabbing it.",
+    "Hold the bottle with green and white labels with the left arm and shake lightly.",
+    "Grab the yellow container with rounded edges carefully and shake.",
+    "Grasp the bottle with a smooth plastic body with the left arm and shake it.",
+    "Lift the bottle with green label with the left arm and shake.",
+    "Secure the yellow bottle with a green design, shake it, and place it down.",
+    "Lift up the bottle with green label using the left arm, then shake.",
+    "Use the left arm to lift and shake the bottle with green and white labels.",
+    "Grab the smooth bottle with rounded edges and move it to shake.",
+    "Use the left arm to grab the rectangular bottle with cylindrical neck and shake it.",
+    "Shake the yellow plastic bottle with white top using the left arm after grabbing.",
+    "Secure the rectangular bottle with cylindrical neck and perform a shake.",
+    "Shake the rectangular bottle with cylindrical neck after lifting it.",
+    "Pick up the rectangular bottle with cylindrical neck and shake it well.",
+    "Use the left arm to pick and shake the yellow container with rounded edges.",
+    "Pick the smooth bottle with rounded edges, shake it with the left arm.",
+    "Grab the yellow plastic bottle with white top firmly, shake it, and put it down.",
+    "Hold the yellow bottle with a green design steady, then shake it.",
+    "Use the left arm to grab the bottle with green label and shake properly.",
+    "Lift the plastic bottle with the left arm and give it a shake.",
+    "Shake the yellow container with rounded edges after grabbing it.",
+    "Pick the yellow bottle with a green design up using the left arm and shake it.",
+    "Grip the yellow container with rounded edges using the left arm and shake.",
+    "Shake the the yellow plastic bottle with white top properly after lifting.",
+    "Hold and shake the the rectangular bottle with cylindrical neck carefully.",
+    "Hold the yellow container with rounded edges, shake it briefly.",
+    "Catch the plastic bottle and shake it instantly.",
+    "Lift the yellow bottle with a green design and shake it gently.",
+    "Shake the yellow plastic bottle with white top after holding it firmly.",
+    "Grab the smooth bottle with rounded edges and shake it steadily.",
+    "Shake the bottle with green label firmly after grabbing.",
+    "Use the left arm to hold the yellow plastic bottle with white top and shake it.",
+    "Grab the smooth bottle with rounded edges with the left arm and shake.",
+    "Shake the rectangular bottle with cylindrical neck thoroughly after grabbing it.",
+    "Hold the medium rectangular yellow bottle and shake it properly.",
+    "Use the left arm to lift and shake the yellow bottle with a green design.",
+    "Lift the medium rectangular yellow bottle and shake it thoroughly.",
+    "Pick up the yellow plastic bottle with white top and shake it.",
+    "With the left arm, pick the plastic bottle and shake properly.",
+    "Pick the bottle with white cap up with the left arm and shake.",
+    "Grab the yellow bottle and give it a shake.",
+    "Pick the rectangular bottle with cylindrical neck and perform shaking motion.",
+    "Utilize the left arm to hold the yellow bottle and shake it.",
+    "Take the smooth bottle with rounded edges using the left arm and give it a shake.",
+    "Shake the medium rectangular yellow bottle after grabbing it.",
+    "Using the left arm, shake the rectangular bottle with cylindrical neck and then place it back.",
+    "Lift the yellow plastic bottle with white top with the left arm and shake it.",
+    "Grab and shake the plastic bottle using the left arm.",
+    "Use the left arm to lift and shake the bottle with green label.",
+    "Grab the yellow plastic bottle with white top using the left arm, then shake.",
+    "Shake the yellow bottle after grabbing it.",
+    "Hold the medium rectangular yellow bottle with the left arm and shake lightly.",
+    "Grab the plastic bottle carefully and shake.",
+    "Grasp the yellow bottle with the left arm and shake it.",
+    "Lift the medium rectangular yellow bottle with the left arm and shake.",
+    "Secure the yellow container with rounded edges, shake it, and place it down.",
+    "Lift up the yellow container with rounded edges using the left arm, then shake.",
+    "Use the left arm to lift and shake the yellow container with rounded edges.",
+    "Grab the bottle with white cap and move it to shake.",
+    "Use the left arm to grab the yellow bottle and shake it.",
+    "Shake the yellow bottle using the left arm after grabbing.",
+    "Secure the rectangular bottle with cylindrical neck and perform a shake.",
+    "Shake the yellow plastic bottle with white top after lifting it.",
+    "Pick up the bottle with white cap and shake it well.",
+    "Use the left arm to pick and shake the rectangular bottle with cylindrical neck.",
+    "Pick the bottle with a smooth plastic body, shake it with the left arm.",
+    "Grab the yellow container with rounded edges firmly, shake it, and put it down.",
+    "Hold the yellow plastic bottle with white top steady, then shake it.",
+    "Use the left arm to grab the rectangular bottle with cylindrical neck and shake properly.",
+    "Lift the bottle with green label with the left arm and give it a shake.",
+    "Shake the yellow bottle after grabbing it.",
+    "Pick the yellow container with rounded edges up using the left arm and shake it.",
+    "Grip the yellow bottle using the left arm and shake.",
+    "Shake the the yellow container with rounded edges properly after lifting.",
+    "Hold and shake the the yellow bottle carefully.",
+    "Hold the smooth bottle with rounded edges, shake it briefly.",
+    "Catch the smooth bottle with rounded edges and shake it instantly.",
+    "Lift the bottle with green label and shake it gently.",
+    "Shake the bottle with white cap after holding it firmly.",
+    "Grab the rectangular bottle with cylindrical neck and shake it steadily.",
+    "Shake the yellow plastic bottle with white top firmly after grabbing.",
+    "Use the left arm to hold the bottle with white cap and shake it.",
+    "Grab the bottle with green label with the left arm and shake.",
+    "Shake the bottle with a smooth plastic body thoroughly after grabbing it.",
+    "Hold the bottle with white cap and shake it properly.",
+    "Use the left arm to lift and shake the bottle with green label.",
+    "Lift the rectangular bottle with cylindrical neck and shake it thoroughly.",
+    "Pick up the plastic bottle and shake it.",
+    "With the left arm, pick the bottle with green and white labels and shake properly."
+  ],
+  "unseen": [
+    "Pick and shake the the yellow rectangular bottle with the left arm.",
+    "Shake the yellow rectangular bottle after picking it with the left arm.",
+    "Pick up the hand-sized yellow plastic bottle with the left arm and shake.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the left arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Use the left arm to pick the yellow rectangular bottle.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the left arm.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Pick up the yellow rectangular bottle with the left arm and shake.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the left arm to grab the yellow rectangular bottle and shake.",
+    "Use the left arm to pick the yellow rectangular bottle.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Pick and shake the the yellow rectangular bottle with the left arm.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Pick up the yellow rectangular bottle with the left arm and shake.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Use the left arm to pick the yellow rectangular bottle.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Pick and shake the the yellow bottle for liquid storage with the left arm.",
+    "Shake the yellow rectangular bottle after picking it with the left arm.",
+    "Pick up the hand-sized yellow plastic bottle with the left arm and shake.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the left arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Pick and shake the the yellow rectangular bottle with the left arm.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the left arm.",
+    "Pick up the hand-sized yellow plastic bottle with the left arm and shake.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the left arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Use the left arm to pick the yellow bottle for liquid storage.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Pick and shake the the yellow rectangular bottle with the left arm.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the left arm.",
+    "Pick up the yellow rectangular bottle with the left arm and shake.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Pick and shake the the yellow rectangular bottle with the left arm.",
+    "Shake the yellow rectangular bottle after picking it with the left arm.",
+    "Pick up the hand-sized yellow plastic bottle with the left arm and shake.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Pick and shake the the yellow bottle for liquid storage with the left arm.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Pick up the yellow bottle for liquid storage with the left arm and shake.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the left arm.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Pick up the yellow bottle for liquid storage with the left arm and shake.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the left arm to grab the yellow rectangular bottle and shake.",
+    "Use the left arm to pick the yellow bottle for liquid storage.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the left arm.",
+    "Shake the yellow rectangular bottle after picking it with the left arm.",
+    "Pick up the yellow rectangular bottle with the left arm and shake.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the left arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Pick up the hand-sized yellow plastic bottle and shake it."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002163.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the blue bottle with label firmly after grabbing.",
+    "Shake the the handheld bottle properly after lifting.",
+    "Hold and shake the the plastic bottle carefully.",
+    "Grab the blue bottle firmly, shake it, and put it down.",
+    "Hold the white bottle with blue accents steady, then shake it.",
+    "Use the left arm to lift and shake the white bottle with blue accents.",
+    "Use the left arm to grab the white bottle with blue accents and shake it.",
+    "Shake the blue bottle with label thoroughly after grabbing it.",
+    "Pick the bottle with blue cap up using the left arm and shake it.",
+    "Secure the cylindrical bottle, shake it, and place it down.",
+    "Catch the medium-sized bottle and shake it instantly.",
+    "Pick up the plastic bottle and shake it.",
+    "Using the left arm, shake the blue bottle with label and then place it back.",
+    "Grab and shake the blue bottle using the left arm.",
+    "Hold the cylindrical bottle and shake it properly.",
+    "Take the medium-sized bottle using the left arm and give it a shake.",
+    "Grasp the bottle with blue cap with the left arm and shake it.",
+    "Use the left arm to hold the medium bottle for beverages and shake it.",
+    "Hold the handheld bottle with the left arm and shake lightly.",
+    "Lift the smooth plastic bottle and shake it thoroughly.",
+    "Pick the plastic bottle and perform shaking motion.",
+    "Hold the blue bottle, shake it briefly.",
+    "Utilize the left arm to hold the bottle with blue cap and shake it.",
+    "Grab the cylindrical bottle and give it a shake.",
+    "Pick up the bottle with blue cap and shake it well.",
+    "Secure the white bottle with blue accents and perform a shake.",
+    "Grab the white and blue bottle and move it to shake.",
+    "Lift the white and blue bottle with the left arm and give it a shake.",
+    "Grab the bottle for liquids carefully and shake.",
+    "Use the left arm to grab the blue bottle and shake properly.",
+    "Lift the handheld bottle and shake it gently.",
+    "Grip the smooth plastic bottle using the left arm and shake.",
+    "Lift the bottle with blue cap with the left arm and shake it.",
+    "Lift up the plastic bottle using the left arm, then shake.",
+    "Shake the cylindrical bottle after grabbing it.",
+    "Use the left arm to lift and shake the medium bottle for beverages.",
+    "Lift the blue bottle with label with the left arm and shake.",
+    "Pick the white and blue bottle, shake it with the left arm.",
+    "Shake the smooth plastic bottle after lifting it.",
+    "Use the left arm to pick and shake the bottle with blue cap.",
+    "Pick the bottle with blue cap up with the left arm and shake.",
+    "Shake the white bottle with blue accents after holding it firmly.",
+    "Shake the plastic bottle after grabbing it.",
+    "Shake the medium bottle for beverages using the left arm after grabbing.",
+    "With the left arm, pick the medium-sized bottle and shake properly.",
+    "Grab the handheld bottle and shake it steadily.",
+    "Use the left arm to lift and shake the blue bottle.",
+    "Grab the handheld bottle using the left arm, then shake.",
+    "Shake the medium bottle for beverages after grabbing it.",
+    "Grab the white and blue bottle with the left arm and shake.",
+    "Shake the handheld bottle firmly after grabbing.",
+    "Shake the the blue bottle with label properly after lifting.",
+    "Hold and shake the the bottle for liquids carefully.",
+    "Grab the cylindrical bottle firmly, shake it, and put it down.",
+    "Hold the cylindrical bottle steady, then shake it.",
+    "Use the left arm to lift and shake the blue bottle.",
+    "Use the left arm to grab the medium bottle for beverages and shake it.",
+    "Shake the bottle for liquids thoroughly after grabbing it.",
+    "Pick the medium-sized bottle up using the left arm and shake it.",
+    "Secure the handheld bottle, shake it, and place it down.",
+    "Catch the bottle with blue cap and shake it instantly.",
+    "Pick up the handheld bottle and shake it.",
+    "Using the left arm, shake the white bottle with blue accents and then place it back.",
+    "Grab and shake the blue bottle with label using the left arm.",
+    "Hold the medium-sized bottle and shake it properly.",
+    "Take the plastic bottle using the left arm and give it a shake.",
+    "Grasp the blue bottle with label with the left arm and shake it.",
+    "Use the left arm to hold the blue bottle with label and shake it.",
+    "Hold the smooth plastic bottle with the left arm and shake lightly.",
+    "Lift the handheld bottle and shake it thoroughly.",
+    "Pick the bottle for liquids and perform shaking motion.",
+    "Hold the white bottle with blue accents, shake it briefly.",
+    "Utilize the left arm to hold the blue bottle and shake it.",
+    "Grab the blue bottle with label and give it a shake.",
+    "Pick up the cylindrical bottle and shake it well.",
+    "Secure the white and blue bottle and perform a shake.",
+    "Grab the smooth plastic bottle and move it to shake.",
+    "Lift the cylindrical bottle with the left arm and give it a shake.",
+    "Grab the medium bottle for beverages carefully and shake.",
+    "Use the left arm to grab the smooth plastic bottle and shake properly.",
+    "Lift the bottle for liquids and shake it gently.",
+    "Grip the blue bottle using the left arm and shake.",
+    "Lift the smooth plastic bottle with the left arm and shake it.",
+    "Lift up the handheld bottle using the left arm, then shake.",
+    "Shake the handheld bottle after grabbing it.",
+    "Use the left arm to lift and shake the white bottle with blue accents.",
+    "Lift the plastic bottle with the left arm and shake.",
+    "Pick the white and blue bottle, shake it with the left arm.",
+    "Shake the bottle with blue cap after lifting it.",
+    "Use the left arm to pick and shake the bottle with blue cap.",
+    "Pick the cylindrical bottle up with the left arm and shake.",
+    "Shake the blue bottle after holding it firmly.",
+    "Shake the cylindrical bottle after grabbing it.",
+    "Shake the white and blue bottle using the left arm after grabbing.",
+    "With the left arm, pick the medium-sized bottle and shake properly.",
+    "Grab the bottle with blue cap and shake it steadily.",
+    "Use the left arm to lift and shake the cylindrical bottle.",
+    "Grab the handheld bottle using the left arm, then shake.",
+    "Shake the plastic bottle after grabbing it.",
+    "Grab the plastic bottle with the left arm and shake."
+  ],
+  "unseen": [
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Use the left arm to pick the bottle with ridged neck.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Grab the bottle with curved neck design and shake it.",
+    "Shake the bottle with ridged neck after picking it with the left arm.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Use the left arm to grab the blue-capped plastic bottle and shake.",
+    "Pick up the bottle with curved neck design with the left arm and shake.",
+    "Pick and shake the the bottle with curved neck design with the left arm.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Use the left arm to pick the bottle with curved neck design.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Shake the bottle with ridged neck after picking it with the left arm.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with ridged neck and shake.",
+    "Pick up the blue-capped plastic bottle with the left arm and shake.",
+    "Pick and shake the the blue-capped plastic bottle with the left arm.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Use the left arm to pick the bottle with curved neck design.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Grab the bottle with curved neck design and shake it.",
+    "Shake the bottle with ridged neck after picking it with the left arm.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Grab the blue-capped plastic bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with ridged neck and shake.",
+    "Pick up the bottle with ridged neck with the left arm and shake.",
+    "Pick and shake the the bottle with ridged neck with the left arm.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Use the left arm to pick the blue-capped plastic bottle.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Grab the bottle with curved neck design and shake it.",
+    "Shake the blue-capped plastic bottle after picking it with the left arm.",
+    "Grab the blue-capped plastic bottle and give it a shake.",
+    "Grab the bottle with ridged neck, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with curved neck design and shake.",
+    "Pick up the bottle with ridged neck with the left arm and shake.",
+    "Pick and shake the the blue-capped plastic bottle with the left arm.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Use the left arm to pick the bottle with curved neck design.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Shake the bottle with curved neck design after picking it with the left arm.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Use the left arm to grab the blue-capped plastic bottle and shake.",
+    "Pick up the blue-capped plastic bottle with the left arm and shake.",
+    "Pick and shake the the blue-capped plastic bottle with the left arm.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Use the left arm to pick the bottle with curved neck design.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Shake the bottle with curved neck design after picking it with the left arm.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Grab the bottle with ridged neck, shake it properly, then set it down.",
+    "Use the left arm to grab the blue-capped plastic bottle and shake.",
+    "Pick up the blue-capped plastic bottle with the left arm and shake.",
+    "Pick and shake the the bottle with ridged neck with the left arm.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Use the left arm to pick the blue-capped plastic bottle.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Grab the bottle with curved neck design and shake it.",
+    "Shake the blue-capped plastic bottle after picking it with the left arm.",
+    "Grab the blue-capped plastic bottle and give it a shake.",
+    "Grab the bottle with ridged neck, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with ridged neck and shake.",
+    "Pick up the bottle with curved neck design with the left arm and shake.",
+    "Pick and shake the the blue-capped plastic bottle with the left arm.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Use the left arm to pick the blue-capped plastic bottle.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Shake the bottle with curved neck design after picking it with the left arm.",
+    "Grab the blue-capped plastic bottle and give it a shake.",
+    "Grab the blue-capped plastic bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with curved neck design and shake.",
+    "Pick up the bottle with curved neck design with the left arm and shake.",
+    "Pick and shake the the bottle with curved neck design with the left arm.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Use the left arm to pick the bottle with curved neck design.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Shake the bottle with curved neck design after picking it with the left arm.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Grab the blue-capped plastic bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with curved neck design and shake.",
+    "Pick up the bottle with ridged neck with the left arm and shake.",
+    "Pick and shake the the bottle with ridged neck with the left arm.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Use the left arm to pick the blue-capped plastic bottle.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Shake the bottle with curved neck design after picking it with the left arm.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Grab the blue-capped plastic bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the blue-capped plastic bottle and shake.",
+    "Pick up the bottle with ridged neck with the left arm and shake.",
+    "Pick and shake the the bottle with curved neck design with the left arm."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002167.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to lift and shake the cylindrical bottle with red writing.",
+    "Catch the white bottle and shake it instantly.",
+    "Lift the cylindrical bottle with red writing with the left arm and shake.",
+    "Hold and shake the the plastic bottle carefully.",
+    "Secure the plastic bottle and perform a shake.",
+    "Use the left arm to hold the smooth bottle and shake it.",
+    "Grab the white bottle with orange lid and give it a shake.",
+    "Grab the white bottle and move it to shake.",
+    "Lift the white bottle for liquids with the left arm and give it a shake.",
+    "Grab and shake the smooth bottle using the left arm.",
+    "Shake the plastic bottle after lifting it.",
+    "Pick up the white bottle and shake it well.",
+    "Grab the smooth bottle firmly, shake it, and put it down.",
+    "Lift up the white bottle using the left arm, then shake.",
+    "With the left arm, pick the handheld white bottle with cap and shake properly.",
+    "Hold the medium-sized bottle steady, then shake it.",
+    "Pick up the white bottle with orange lid and shake it.",
+    "Grab the medium-sized bottle and shake it steadily.",
+    "Hold the cylindrical bottle with red writing, shake it briefly.",
+    "Pick the white cylindrical bottle and perform shaking motion.",
+    "Shake the handheld white bottle with cap after holding it firmly.",
+    "Shake the white bottle with orange lid using the left arm after grabbing.",
+    "Hold the bottle with tapering neck with the left arm and shake lightly.",
+    "Grab the white bottle for liquids using the left arm, then shake.",
+    "Grab the bottle with orange screw cap with the left arm and shake.",
+    "Use the left arm to grab the white bottle and shake it.",
+    "Hold the cylindrical bottle with red writing and shake it properly.",
+    "Pick the white bottle with red text up using the left arm and shake it.",
+    "Shake the bottle with orange screw cap firmly after grabbing.",
+    "Using the left arm, shake the white bottle with orange lid and then place it back.",
+    "Use the left arm to lift and shake the white bottle with red text.",
+    "Secure the cylindrical bottle with red writing, shake it, and place it down.",
+    "Utilize the left arm to hold the white cylindrical bottle and shake it.",
+    "Lift the white bottle with red text and shake it gently.",
+    "Grasp the white bottle with the left arm and shake it.",
+    "Shake the handheld white bottle with cap thoroughly after grabbing it.",
+    "Grip the white bottle with red text using the left arm and shake.",
+    "Lift the white bottle with orange lid and shake it thoroughly.",
+    "Grab the white cylindrical bottle carefully and shake.",
+    "Use the left arm to pick and shake the medium-sized bottle.",
+    "Use the left arm to lift and shake the bottle with tapering neck.",
+    "Shake the cylindrical bottle with red writing after grabbing it.",
+    "Pick the cylindrical bottle with red writing, shake it with the left arm.",
+    "Shake the cylindrical bottle with red writing after grabbing it.",
+    "Take the bottle with tapering neck using the left arm and give it a shake.",
+    "Pick the white bottle with red text up with the left arm and shake.",
+    "Shake the the white cylindrical bottle properly after lifting.",
+    "Lift the white bottle with orange lid with the left arm and shake it.",
+    "Use the left arm to grab the white bottle for liquids and shake properly.",
+    "Shake the white bottle with red text after grabbing it.",
+    "Use the left arm to lift and shake the medium-sized bottle.",
+    "Catch the white cylindrical bottle and shake it instantly.",
+    "Lift the cylindrical bottle with red writing with the left arm and shake.",
+    "Hold and shake the the white bottle with red text carefully.",
+    "Secure the bottle with orange screw cap and perform a shake.",
+    "Use the left arm to hold the bottle with tapering neck and shake it.",
+    "Grab the white bottle for liquids and give it a shake.",
+    "Grab the white bottle for liquids and move it to shake.",
+    "Lift the bottle with tapering neck with the left arm and give it a shake.",
+    "Grab and shake the cylindrical bottle with red writing using the left arm.",
+    "Shake the bottle with tapering neck after lifting it.",
+    "Pick up the white cylindrical bottle and shake it well.",
+    "Grab the handheld white bottle with cap firmly, shake it, and put it down.",
+    "Lift up the plastic bottle using the left arm, then shake.",
+    "With the left arm, pick the smooth bottle and shake properly.",
+    "Hold the cylindrical bottle with red writing steady, then shake it.",
+    "Pick up the bottle with tapering neck and shake it.",
+    "Grab the medium-sized bottle and shake it steadily.",
+    "Hold the white bottle for liquids, shake it briefly.",
+    "Pick the white bottle with red text and perform shaking motion.",
+    "Shake the medium-sized bottle after holding it firmly.",
+    "Shake the medium-sized bottle using the left arm after grabbing.",
+    "Hold the white bottle for liquids with the left arm and shake lightly.",
+    "Grab the white cylindrical bottle using the left arm, then shake.",
+    "Grab the cylindrical bottle with red writing with the left arm and shake.",
+    "Use the left arm to grab the white bottle with red text and shake it.",
+    "Hold the white bottle for liquids and shake it properly.",
+    "Pick the medium-sized bottle up using the left arm and shake it.",
+    "Shake the white cylindrical bottle firmly after grabbing.",
+    "Using the left arm, shake the bottle with orange screw cap and then place it back.",
+    "Use the left arm to lift and shake the plastic bottle.",
+    "Secure the bottle with orange screw cap, shake it, and place it down.",
+    "Utilize the left arm to hold the medium-sized bottle and shake it.",
+    "Lift the white bottle and shake it gently.",
+    "Grasp the cylindrical bottle with red writing with the left arm and shake it.",
+    "Shake the bottle with orange screw cap thoroughly after grabbing it.",
+    "Grip the cylindrical bottle with red writing using the left arm and shake.",
+    "Lift the white bottle and shake it thoroughly.",
+    "Grab the white bottle with red text carefully and shake.",
+    "Use the left arm to pick and shake the handheld white bottle with cap.",
+    "Use the left arm to lift and shake the smooth bottle.",
+    "Shake the white bottle with red text after grabbing it.",
+    "Pick the bottle with orange screw cap, shake it with the left arm.",
+    "Shake the white bottle with orange lid after grabbing it.",
+    "Take the handheld white bottle with cap using the left arm and give it a shake.",
+    "Pick the bottle with tapering neck up with the left arm and shake.",
+    "Shake the the bottle with orange screw cap properly after lifting.",
+    "Lift the white cylindrical bottle with the left arm and shake it.",
+    "Use the left arm to grab the white bottle and shake properly.",
+    "Shake the bottle with orange screw cap after grabbing it."
+  ],
+  "unseen": [
+    "Pick and shake the the bottle with glossy surface with the left arm.",
+    "Use the left arm to grab the bottle with glossy surface and shake.",
+    "Shake the bottle with orange cap after picking it with the left arm.",
+    "Grab the bottle with glossy surface and shake it.",
+    "Use the left arm to pick the bottle with orange cap.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Pick up the plastic bottle with printed label with the left arm and shake.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Grab the bottle with glossy surface and give it a shake.",
+    "Grab the bottle with glossy surface, shake it properly, then set it down.",
+    "Pick and shake the the bottle with orange cap with the left arm.",
+    "Use the left arm to grab the bottle with glossy surface and shake.",
+    "Shake the bottle with orange cap after picking it with the left arm.",
+    "Grab the plastic bottle with printed label 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 up the bottle with glossy surface with the left arm and shake.",
+    "Pick up the bottle with glossy surface and shake it.",
+    "Grab the plastic bottle with printed label and give it a shake.",
+    "Grab the bottle with orange cap, shake it properly, then set it down.",
+    "Pick and shake the the bottle with glossy surface with the left arm.",
+    "Use the left arm to grab the bottle with orange cap and shake.",
+    "Shake the bottle with orange cap after picking it with the left arm.",
+    "Grab the bottle with orange cap and shake it.",
+    "Use the left arm to pick the bottle with orange cap.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Pick up the plastic bottle with printed label with the left arm and shake.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Grab the bottle with glossy surface and give it a shake.",
+    "Grab the bottle with glossy surface, shake it properly, then set it down.",
+    "Pick and shake the the bottle with orange cap with the left arm.",
+    "Use the left arm to grab the bottle with glossy surface and shake.",
+    "Shake the bottle with orange cap after picking it with the left arm.",
+    "Grab 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 up the bottle with glossy surface with the left arm and shake.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Grab the bottle with orange cap and give it a shake.",
+    "Grab the bottle with orange cap, shake it properly, then set it down.",
+    "Pick and shake the the bottle with glossy surface with the left arm.",
+    "Use the left arm to grab the bottle with glossy surface and shake.",
+    "Shake the plastic bottle with printed label after picking it with the left arm.",
+    "Grab the plastic bottle with printed label 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 up the bottle with orange cap with the left arm and shake.",
+    "Pick up the bottle with glossy surface and shake it.",
+    "Grab the bottle with orange cap and give it a shake.",
+    "Grab the plastic bottle with printed label, shake it properly, then set it down.",
+    "Pick and shake the the bottle with orange cap with the left arm.",
+    "Use the left arm to grab the bottle with orange cap and shake.",
+    "Shake the plastic bottle with printed label after picking it with the left arm.",
+    "Grab the plastic bottle with printed label 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 up the plastic bottle with printed label with the left arm and shake.",
+    "Pick up the bottle with glossy surface and shake it.",
+    "Grab the bottle with orange cap and give it a shake.",
+    "Grab the plastic bottle with printed label, shake it properly, then set it down.",
+    "Pick and shake the the bottle with glossy surface with the left arm.",
+    "Use the left arm to grab the plastic bottle with printed label and shake.",
+    "Shake the bottle with orange cap after picking it with the left arm.",
+    "Grab 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 up the bottle with orange cap with the left arm and shake.",
+    "Pick up the plastic bottle with printed label and shake it.",
+    "Grab the bottle with orange cap and give it a shake.",
+    "Grab the bottle with orange cap, shake it properly, then set it down.",
+    "Pick and shake the the bottle with glossy surface with the left arm.",
+    "Use the left arm to grab the bottle with orange cap and shake.",
+    "Shake the bottle with orange cap after picking it with the left arm.",
+    "Grab 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 up the plastic bottle with printed label with the left arm and shake.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Grab the bottle with glossy surface and give it a shake.",
+    "Grab the bottle with orange cap, shake it properly, then set it down.",
+    "Pick and shake the the plastic bottle with printed label with the left arm.",
+    "Use the left arm to grab the bottle with glossy surface and shake.",
+    "Shake the bottle with glossy surface after picking it with the left arm.",
+    "Grab 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 up the bottle with glossy surface with the left arm and shake.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Grab the bottle with orange cap and give it a shake.",
+    "Grab the bottle with glossy surface, shake it properly, then set it down.",
+    "Pick and shake the the plastic bottle with printed label with the left arm.",
+    "Use the left arm to grab the bottle with orange cap and shake.",
+    "Shake the plastic bottle with printed label after picking it with the left arm.",
+    "Grab the bottle with orange cap and shake it.",
+    "Use the left arm to pick the bottle with orange cap.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Pick up the bottle with orange cap with the left arm and shake.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Grab the plastic bottle with printed label and give it a shake.",
+    "Grab the bottle with glossy surface, shake it properly, then set it down."
+  ]
+}

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002191.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the bottle with ridges near base and shake it well.",
+    "Pick the medium-sized green bottle up with the left arm and shake.",
+    "Secure the medium green bottle with capped neck and perform a shake.",
+    "Shake the the bottle with narrow top properly after lifting.",
+    "Grab the plastic bottle and give it a shake.",
+    "Use the left arm to lift and shake the smooth green bottle.",
+    "Lift the bottle with rounded neck and shake it gently.",
+    "Grab the bottle with white printed label and shake it steadily.",
+    "Grab the bottle with rounded neck and move it to shake.",
+    "Use the left arm to lift and shake the bottle with rounded neck.",
+    "Catch the medium-sized green bottle and shake it instantly.",
+    "Pick up the bottle with narrow top and shake it.",
+    "Pick the medium green bottle with capped neck, shake it with the left arm.",
+    "Utilize the left arm to hold the medium green bottle and shake it.",
+    "Grab the bottle with white printed label using the left arm, then shake.",
+    "Shake the bottle with ridges near base after lifting it.",
+    "With the left arm, pick the smooth green plastic bottle and shake properly.",
+    "Use the left arm to grab the bottle with rounded neck and shake properly.",
+    "Lift the medium green bottle with capped neck with the left arm and give it a shake.",
+    "Shake the plastic bottle using the left arm after grabbing.",
+    "Pick the medium green bottle with capped neck and perform shaking motion.",
+    "Grab and shake the smooth green bottle using the left arm.",
+    "Hold and shake the the bottle with rounded neck carefully.",
+    "Lift up the bottle with white printed label using the left arm, then shake.",
+    "Grab the plastic bottle with the left arm and shake.",
+    "Shake the smooth green bottle after grabbing it.",
+    "Shake the medium-sized green bottle after grabbing it.",
+    "Using the left arm, shake the smooth green plastic bottle and then place it back.",
+    "Secure the medium green bottle with capped neck, shake it, and place it down.",
+    "Use the left arm to grab the medium green bottle and shake it.",
+    "Shake the medium-sized green bottle after grabbing it.",
+    "Hold the bottle with ridges near base and shake it properly.",
+    "Grasp the medium-sized green bottle with the left arm and shake it.",
+    "Pick the smooth green bottle up using the left arm and shake it.",
+    "Hold the medium green bottle with capped neck with the left arm and shake lightly.",
+    "Grab the bottle with narrow top firmly, shake it, and put it down.",
+    "Shake the bottle with white printed label thoroughly after grabbing it.",
+    "Grab the bottle with rounded neck carefully and shake.",
+    "Hold the bottle with narrow top steady, then shake it.",
+    "Use the left arm to pick and shake the medium green bottle.",
+    "Lift the bottle with rounded neck with the left arm and shake it.",
+    "Shake the medium green bottle after holding it firmly.",
+    "Shake the medium-sized green bottle firmly after grabbing.",
+    "Use the left arm to lift and shake the medium green bottle with capped neck.",
+    "Lift the medium-sized green bottle with the left arm and shake.",
+    "Grip the bottle with rounded neck using the left arm and shake.",
+    "Lift the medium green bottle and shake it thoroughly.",
+    "Take the handheld green bottle using the left arm and give it a shake.",
+    "Hold the bottle with white printed label, shake it briefly.",
+    "Use the left arm to hold the medium green bottle with capped neck and shake it.",
+    "Pick up the smooth green plastic bottle and shake it well.",
+    "Pick the bottle with narrow top up with the left arm and shake.",
+    "Secure the bottle with narrow top and perform a shake.",
+    "Shake the the bottle with narrow top properly after lifting.",
+    "Grab the bottle with narrow top and give it a shake.",
+    "Use the left arm to lift and shake the green bottle with indented base.",
+    "Lift the medium green bottle and shake it gently.",
+    "Grab the bottle with ridges near base and shake it steadily.",
+    "Grab the handheld green bottle and move it to shake.",
+    "Use the left arm to lift and shake the medium green bottle with capped neck.",
+    "Catch the handheld green bottle and shake it instantly.",
+    "Pick up the smooth green plastic bottle and shake it.",
+    "Pick the medium green bottle with capped neck, shake it with the left arm.",
+    "Utilize the left arm to hold the bottle with rounded neck and shake it.",
+    "Grab the medium-sized green bottle using the left arm, then shake.",
+    "Shake the green bottle with indented base after lifting it.",
+    "With the left arm, pick the plastic bottle and shake properly.",
+    "Use the left arm to grab the green bottle with indented base and shake properly.",
+    "Lift the handheld green bottle with the left arm and give it a shake.",
+    "Shake the medium green bottle with capped neck using the left arm after grabbing.",
+    "Pick the bottle with rounded neck and perform shaking motion.",
+    "Grab and shake the smooth green plastic bottle using the left arm.",
+    "Hold and shake the the medium green bottle with capped neck carefully.",
+    "Lift up the bottle with white printed label using the left arm, then shake.",
+    "Grab the handheld green bottle with the left arm and shake.",
+    "Shake the medium green bottle with capped neck after grabbing it.",
+    "Shake the medium green bottle after grabbing it.",
+    "Using the left arm, shake the smooth green bottle and then place it back.",
+    "Secure the smooth green bottle, shake it, and place it down.",
+    "Use the left arm to grab the medium-sized green bottle and shake it.",
+    "Shake the medium-sized green bottle after grabbing it.",
+    "Hold the bottle with rounded neck and shake it properly.",
+    "Grasp the bottle with rounded neck with the left arm and shake it.",
+    "Pick the bottle with ridges near base up using the left arm and shake it.",
+    "Hold the bottle with narrow top with the left arm and shake lightly.",
+    "Grab the medium green bottle firmly, shake it, and put it down.",
+    "Shake the bottle with ridges near base thoroughly after grabbing it.",
+    "Grab the medium green bottle with capped neck carefully and shake.",
+    "Hold the medium green bottle steady, then shake it.",
+    "Use the left arm to pick and shake the bottle with narrow top.",
+    "Lift the handheld green bottle with the left arm and shake it.",
+    "Shake the bottle with rounded neck after holding it firmly.",
+    "Shake the bottle with ridges near base firmly after grabbing.",
+    "Use the left arm to lift and shake the smooth green plastic bottle.",
+    "Lift the green bottle with indented base with the left arm and shake.",
+    "Grip the medium-sized green bottle using the left arm and shake.",
+    "Lift the bottle with white printed label and shake it thoroughly.",
+    "Take the green bottle with indented base using the left arm and give it a shake.",
+    "Hold the medium green bottle with capped neck, shake it briefly.",
+    "Use the left arm to hold the bottle with ridges near base and shake it."
+  ],
+  "unseen": [
+    "Use the left arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Shake the green plastic bottle with ridged bottom after picking it with the left arm.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Use the left arm to pick the green bottle with white label.",
+    "Grab the green bottle with white label and give it a 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 plastic bottle with ridged bottom with the left arm and shake.",
+    "Pick and shake the the green bottle with white label with the left arm.",
+    "Pick up the green bottle with white label and shake it.",
+    "Use the left arm to grab the green bottle with white label and shake.",
+    "Shake the green bottle with white label after picking it with the left arm.",
+    "Pick up the green bottle and shake it.",
+    "Use the left arm to pick the green bottle.",
+    "Grab the green bottle and give it a 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 with the left arm and shake.",
+    "Pick and shake the the green bottle with white label with the left arm.",
+    "Pick up the green bottle and shake it.",
+    "Use the left arm to grab the green bottle with white label and shake.",
+    "Shake the green plastic bottle with ridged bottom after picking it with the left arm.",
+    "Pick up the green bottle and shake it.",
+    "Use the left arm to pick the green bottle.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "Grab the green bottle with white label and shake it.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Pick up the green bottle with white label with the left arm and shake.",
+    "Pick and shake the the green bottle with white label with the left arm.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Shake the green bottle after picking it with the left arm.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Use the left arm to pick the green bottle.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "Grab the green bottle with white label and shake it.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Pick up the green plastic bottle with ridged bottom with the left arm and shake.",
+    "Pick and shake the the green bottle with the left arm.",
+    "Pick up the green bottle with white label and shake it.",
+    "Use the left arm to grab the green bottle and shake.",
+    "Shake the green bottle after picking it with the left arm.",
+    "Pick up the green bottle with white label and shake it.",
+    "Use the left arm to pick the green bottle with white label.",
+    "Grab the green plastic bottle with ridged bottom and give it a 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 plastic bottle with ridged bottom with the left arm and shake.",
+    "Pick and shake the the green bottle with the left arm.",
+    "Pick up the green bottle with white label and shake it.",
+    "Use the left arm to grab the green bottle with white label and shake.",
+    "Shake the green plastic bottle with ridged bottom after picking it with the left arm.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Use the left arm to pick the green bottle.",
+    "Grab the green bottle and give it a shake.",
+    "Grab the green bottle and shake it.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Pick up the green bottle with the left arm and shake.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the left arm.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Use the left arm to grab the green bottle with white label and shake.",
+    "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.",
+    "Use the left arm to pick the green plastic bottle with ridged bottom.",
+    "Grab the green bottle and give it a shake.",
+    "Grab the green bottle with white label and shake it.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Pick up the green plastic bottle with ridged bottom with the left arm and shake.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the left arm.",
+    "Pick up the green bottle and shake it.",
+    "Use the left arm to grab the green bottle and shake.",
+    "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.",
+    "Use the left arm to pick the green bottle with white label.",
+    "Grab the green bottle and give it a 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 with white label with the left arm and shake.",
+    "Pick and shake the the green bottle with white label with the left arm.",
+    "Pick up the green bottle and shake it.",
+    "Use the left arm to grab the green bottle and shake.",
+    "Shake the green plastic bottle with ridged bottom after picking it with the left arm.",
+    "Pick up the green bottle with white label and shake it.",
+    "Use the left arm to pick the green bottle with white label.",
+    "Grab the green bottle with white label and give it a 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 plastic bottle with ridged bottom with the left arm and shake.",
+    "Pick and shake the the green bottle with the left arm.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Shake the green plastic bottle with ridged bottom after picking it with the left arm.",
+    "Pick up the green bottle with white label and shake it.",
+    "Use the left arm to pick the green bottle with white label.",
+    "Grab the green plastic bottle with ridged bottom and give it a 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 with white label with the left arm and shake.",
+    "Pick and shake the the green bottle with the left arm.",
+    "Pick up the green plastic bottle with ridged bottom and shake it."
+  ]
+}