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+    "Pick up the liquid container dark brown plastic and shake it.",
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+    "Grab the medium-sized plastic bottle with capped top and shake it.",
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+    "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.",
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+    "Grab the liquid container dark brown plastic and give it a shake.",
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+    "Pick and shake the the liquid container dark brown plastic with the right arm.",
+    "Pick up the liquid container dark brown plastic with the right arm and shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001169.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001169.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7482716020599266130d2672a63d91968078150
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001169.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the bottle with yellow cap, shake it briefly.",
+    "Pick the orange cylindrical bottle up using the right arm and shake it.",
+    "Use the right arm to grab the orange bottle and shake it.",
+    "Shake the the plastic bottle properly after lifting.",
+    "Shake the smooth plastic bottle firmly after grabbing.",
+    "Catch the plastic bottle and shake it instantly.",
+    "Use the right arm to lift and shake the bottle with yellow cap.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Hold and shake the the cylindrical orange bottle with yellow top carefully.",
+    "Hold the cylindrical orange bottle with yellow top and shake it properly.",
+    "Shake the bottle with yellow cap thoroughly after grabbing it.",
+    "Shake the smooth plastic bottle after lifting it.",
+    "Grasp the plastic bottle with the right arm and shake it.",
+    "Use the right arm to hold the bottle with yellow cap and shake it.",
+    "Shake the cylindrical orange bottle with yellow top after holding it firmly.",
+    "With the right arm, pick the plastic bottle with sealed yellow cap and shake properly.",
+    "Grab the plastic bottle with sealed yellow cap and shake it steadily.",
+    "Lift the yellow-capped plastic bottle with the right arm and shake it.",
+    "Grab the bottle with narrow neck using the right arm, then shake.",
+    "Use the right arm to lift and shake the bottle with printed label.",
+    "Shake the yellow-capped plastic bottle after grabbing it.",
+    "Grab the bottle with yellow cap carefully and shake.",
+    "Grab the bottle for liquids and move it to shake.",
+    "Hold the yellow-capped plastic bottle steady, then shake it.",
+    "Grab and shake the cylindrical orange bottle with yellow top using the right arm.",
+    "Take the bottle with printed label using the right arm and give it a shake.",
+    "Grab the orange bottle with the right arm and shake.",
+    "Lift the bottle with narrow neck with the right arm and shake.",
+    "Pick up the yellow-capped plastic bottle and shake it well.",
+    "Lift up the yellow-capped plastic bottle using the right arm, then shake.",
+    "Grab the bottle with yellow cap firmly, shake it, and put it down.",
+    "Shake the bottle for liquids using the right arm after grabbing.",
+    "Use the right arm to grab the smooth plastic bottle and shake properly.",
+    "Grip the orange bottle using the right arm and shake.",
+    "Secure the cylindrical orange bottle with yellow top, shake it, and place it down.",
+    "Hold the orange cylindrical bottle with the right arm and shake lightly.",
+    "Utilize the right arm to hold the orange bottle and shake it.",
+    "Pick up the orange bottle and shake it.",
+    "Shake the bottle with narrow neck after grabbing it.",
+    "Pick the yellow-capped plastic bottle, shake it with the right arm.",
+    "Shake the bottle for liquids after grabbing it.",
+    "Secure the cylindrical orange bottle with yellow top and perform a shake.",
+    "Grab the bottle with narrow neck and give it a shake.",
+    "Using the right arm, shake the smooth plastic bottle and then place it back.",
+    "Use the right arm to pick and shake the orange bottle.",
+    "Lift the bottle with printed label and shake it gently.",
+    "Pick the cylindrical orange bottle with yellow top and perform shaking motion.",
+    "Lift the cylindrical orange bottle with yellow top with the right arm and give it a shake.",
+    "Pick the orange cylindrical bottle up with the right arm and shake.",
+    "Lift the smooth plastic bottle and shake it thoroughly.",
+    "Hold the bottle for liquids, shake it briefly.",
+    "Pick the cylindrical orange bottle with yellow top up using the right arm and shake it.",
+    "Use the right arm to grab the bottle with narrow neck and shake it.",
+    "Shake the the orange cylindrical bottle properly after lifting.",
+    "Shake the orange cylindrical bottle firmly after grabbing.",
+    "Catch the plastic bottle and shake it instantly.",
+    "Use the right arm to lift and shake the plastic bottle with sealed yellow cap.",
+    "Use the right arm to lift and shake the smooth plastic bottle.",
+    "Hold and shake the the orange bottle carefully.",
+    "Hold the bottle for liquids and shake it properly.",
+    "Shake the bottle with yellow cap thoroughly after grabbing it.",
+    "Shake the smooth plastic bottle after lifting it.",
+    "Grasp the plastic bottle with the right arm and shake it.",
+    "Use the right arm to hold the yellow-capped plastic bottle and shake it.",
+    "Shake the bottle with yellow cap after holding it firmly.",
+    "With the right arm, pick the smooth plastic bottle and shake properly.",
+    "Grab the medium-sized orange bottle and shake it steadily.",
+    "Lift the bottle with narrow neck with the right arm and shake it.",
+    "Grab the bottle with printed label using the right arm, then shake.",
+    "Use the right arm to lift and shake the orange bottle.",
+    "Shake the orange cylindrical bottle after grabbing it.",
+    "Grab the smooth plastic bottle carefully and shake.",
+    "Grab the plastic bottle and move it to shake.",
+    "Hold the cylindrical orange bottle with yellow top steady, then shake it.",
+    "Grab and shake the orange cylindrical bottle using the right arm.",
+    "Take the plastic bottle using the right arm and give it a shake.",
+    "Grab the plastic bottle with the right arm and shake.",
+    "Lift the medium-sized orange bottle with the right arm and shake.",
+    "Pick up the orange bottle and shake it well.",
+    "Lift up the medium-sized orange bottle using the right arm, then shake.",
+    "Grab the plastic bottle firmly, shake it, and put it down.",
+    "Shake the bottle for liquids using the right arm after grabbing.",
+    "Use the right arm to grab the orange bottle and shake properly.",
+    "Grip the bottle with printed label using the right arm and shake.",
+    "Secure the orange cylindrical bottle, shake it, and place it down.",
+    "Hold the bottle with yellow cap with the right arm and shake lightly.",
+    "Utilize the right arm to hold the plastic bottle with sealed yellow cap and shake it.",
+    "Pick up the medium-sized orange bottle and shake it.",
+    "Shake the bottle with narrow neck after grabbing it.",
+    "Pick the bottle with printed label, shake it with the right arm.",
+    "Shake the smooth plastic bottle after grabbing it.",
+    "Secure the bottle with yellow cap and perform a shake.",
+    "Grab the yellow-capped plastic bottle and give it a shake.",
+    "Using the right arm, shake the cylindrical orange bottle with yellow top and then place it back.",
+    "Use the right arm to pick and shake the plastic bottle.",
+    "Lift the orange bottle and shake it gently.",
+    "Pick the yellow-capped plastic bottle and perform shaking motion.",
+    "Lift the orange bottle with the right arm and give it a shake.",
+    "Pick the bottle for liquids up with the right arm and shake.",
+    "Lift the cylindrical orange bottle with yellow top and shake it thoroughly."
+  ],
+  "unseen": [
+    "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 handheld orange bottle and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the right arm.",
+    "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 orange bottle with smooth texture after picking it with the right arm.",
+    "Grab the label-covered orange bottle 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 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 handheld orange bottle and shake it.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "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.",
+    "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.",
+    "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 and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the right arm.",
+    "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 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 up the orange bottle with smooth texture and shake it.",
+    "Pick up the label-covered orange bottle with the right arm and shake.",
+    "Grab the handheld orange bottle and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the right arm.",
+    "Use the right arm to grab the handheld 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.",
+    "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 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 and shake it.",
+    "Pick and shake the the label-covered orange bottle with the right arm.",
+    "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 orange bottle with smooth texture after picking it with the right arm.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "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.",
+    "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 and shake it.",
+    "Pick and shake the the label-covered orange bottle with the right arm.",
+    "Use the right arm to grab the label-covered 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 orange bottle with smooth texture 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 up the handheld orange bottle and shake it.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Pick and shake the the label-covered orange bottle with the right arm.",
+    "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.",
+    "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 handheld orange bottle with the right arm and shake.",
+    "Grab the handheld orange bottle and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the right arm.",
+    "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 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.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick up the label-covered orange bottle with the right arm and shake.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Pick and shake the the label-covered orange bottle with the right arm.",
+    "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 handheld orange bottle and give it a shake.",
+    "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 handheld orange bottle and shake it.",
+    "Pick up the label-covered orange bottle with the right arm and shake.",
+    "Grab the handheld orange bottle and shake it.",
+    "Pick and shake the the label-covered orange bottle with the right arm.",
+    "Use the right arm to grab the orange bottle with smooth texture 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.",
+    "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."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001288.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001288.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d5d12f2b6840716c007a588f89f1f80d7fe0e6f
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001288.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, pick the medium bottle for beverages and shake properly.",
+    "Shake the white bottle with blue accents thoroughly after grabbing it.",
+    "Take the cylindrical bottle using the left arm and give it a shake.",
+    "Use the left arm to grab the white bottle with blue accents and shake it.",
+    "Secure the smooth plastic bottle, shake it, and place it down.",
+    "Shake the cylindrical bottle after grabbing it.",
+    "Grasp the smooth plastic bottle with the left arm and shake it.",
+    "Grab the handheld bottle and move it to shake.",
+    "Pick the medium bottle for beverages up using the left arm and shake it.",
+    "Pick the white bottle with blue accents up with the left arm and shake.",
+    "Hold the white bottle with blue accents, shake it briefly.",
+    "Lift the plastic bottle and shake it gently.",
+    "Utilize the left arm to hold the white and blue bottle and shake it.",
+    "Pick up the medium bottle for beverages and shake it.",
+    "Grab the white bottle with blue accents and shake it steadily.",
+    "Lift the smooth plastic bottle with the left arm and shake.",
+    "Hold the medium bottle for beverages and shake it properly.",
+    "Lift the cylindrical bottle with the left arm and give it a shake.",
+    "Secure the medium bottle for beverages and perform a shake.",
+    "Grab the white and blue bottle with the left arm and shake.",
+    "Shake the white and blue bottle after grabbing it.",
+    "Shake the medium-sized bottle after lifting it.",
+    "Shake the white bottle with blue accents firmly after grabbing.",
+    "Use the left arm to lift and shake the handheld bottle.",
+    "Grip the medium bottle for beverages using the left arm and shake.",
+    "Using the left arm, shake the medium-sized bottle and then place it back.",
+    "Grab the bottle for liquids and give it a shake.",
+    "Lift up the plastic bottle using the left arm, then shake.",
+    "Grab the plastic bottle firmly, shake it, and put it down.",
+    "Grab the smooth plastic bottle using the left arm, then shake.",
+    "Use the left arm to pick and shake the medium-sized bottle.",
+    "Use the left arm to lift and shake the white and blue bottle.",
+    "Shake the the handheld bottle properly after lifting.",
+    "Hold the smooth plastic bottle steady, then shake it.",
+    "Pick up the medium bottle for beverages and shake it well.",
+    "Grab and shake the medium-sized bottle using the left arm.",
+    "Use the left arm to grab the plastic bottle and shake properly.",
+    "Shake the smooth plastic bottle after holding it firmly.",
+    "Grab the smooth plastic bottle carefully and shake.",
+    "Shake the bottle for liquids after grabbing it.",
+    "Shake the bottle for liquids using the left arm after grabbing.",
+    "Use the left arm to hold the smooth plastic bottle and shake it.",
+    "Lift the plastic bottle and shake it thoroughly.",
+    "Use the left arm to lift and shake the cylindrical bottle.",
+    "Hold the white and blue bottle with the left arm and shake lightly.",
+    "Pick the medium bottle for beverages, shake it with the left arm.",
+    "Catch the white bottle with blue accents and shake it instantly.",
+    "Pick the white and blue bottle and perform shaking motion.",
+    "Lift the bottle for liquids with the left arm and shake it.",
+    "Hold and shake the the blue bottle carefully.",
+    "With the left arm, pick the white bottle with blue accents and shake properly.",
+    "Shake the white and blue bottle thoroughly after grabbing it.",
+    "Take the blue bottle with label using the left arm and give it a shake.",
+    "Use the left arm to grab the white and blue bottle and shake it.",
+    "Secure the blue bottle with label, shake it, and place it down.",
+    "Shake the medium bottle for beverages after grabbing it.",
+    "Grasp the blue bottle with label with the left arm and shake it.",
+    "Grab the plastic bottle and move it to shake.",
+    "Pick the medium-sized bottle up using the left arm and shake it.",
+    "Pick the medium bottle for beverages up with the left arm and shake.",
+    "Hold the bottle for liquids, shake it briefly.",
+    "Lift the white bottle with blue accents and shake it gently.",
+    "Utilize the left arm to hold the handheld bottle and shake it.",
+    "Pick up the white bottle with blue accents and shake it.",
+    "Grab the cylindrical bottle and shake it steadily.",
+    "Lift the white bottle with blue accents with the left arm and shake.",
+    "Hold the blue bottle and shake it properly.",
+    "Lift the cylindrical bottle with the left arm and give it a shake.",
+    "Secure the handheld bottle and perform a shake.",
+    "Grab the cylindrical bottle with the left arm and shake.",
+    "Shake the bottle with blue cap after grabbing it.",
+    "Shake the medium bottle for beverages after lifting it.",
+    "Shake the white and blue bottle firmly after grabbing.",
+    "Use the left arm to lift and shake the white and blue bottle.",
+    "Grip the medium-sized bottle using the left arm and shake.",
+    "Using the left arm, shake the medium bottle for beverages and then place it back.",
+    "Grab the white and blue bottle and give it a shake.",
+    "Lift up the white and blue bottle using the left arm, then shake.",
+    "Grab the bottle for liquids firmly, shake it, and put it down.",
+    "Grab the blue bottle with label using the left arm, then shake.",
+    "Use the left arm to pick and shake the medium bottle for beverages.",
+    "Use the left arm to lift and shake the plastic bottle.",
+    "Shake the the plastic bottle properly after lifting.",
+    "Hold the medium-sized bottle steady, then shake it.",
+    "Pick up the handheld bottle and shake it well.",
+    "Grab and shake the bottle with blue cap using the left arm.",
+    "Use the left arm to grab the white and blue bottle and shake properly.",
+    "Shake the white and blue bottle after holding it firmly.",
+    "Grab the plastic bottle carefully and shake.",
+    "Shake the blue bottle with label after grabbing it.",
+    "Shake the medium-sized bottle using the left arm after grabbing.",
+    "Use the left arm to hold the bottle for liquids and shake it.",
+    "Lift the white and blue bottle and shake it thoroughly.",
+    "Use the left arm to lift and shake the bottle with blue cap.",
+    "Hold the smooth plastic bottle with the left arm and shake lightly.",
+    "Pick the bottle for liquids, shake it with the left arm.",
+    "Catch the cylindrical bottle and shake it instantly.",
+    "Pick the bottle for liquids and perform shaking motion.",
+    "Lift the bottle for liquids with the left arm and shake it.",
+    "Hold and shake the the medium-sized bottle carefully."
+  ],
+  "unseen": [
+    "Grab the bottle with ridged neck, shake it properly, then set it down.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Grab the bottle with curved neck design and shake it.",
+    "Use the left arm to grab the bottle with ridged neck and shake.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Use the left arm to pick the bottle with curved neck design.",
+    "Pick and shake the the blue-capped plastic bottle with the left arm.",
+    "Pick up the blue-capped plastic bottle with the left arm and shake.",
+    "Shake the bottle with ridged neck after picking it with the left arm.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Grab the blue-capped plastic bottle and give it a shake.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Use the left arm to grab the bottle with ridged neck and shake.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Use the left arm to pick the bottle with ridged neck.",
+    "Pick and shake the the bottle with curved neck design with the left arm.",
+    "Pick up the bottle with curved neck design with the left arm and shake.",
+    "Shake the bottle with curved neck design after picking it with the left arm.",
+    "Grab the bottle with ridged neck, shake it properly, then set it down.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Grab the bottle with curved neck design and shake it.",
+    "Use the left arm to grab the bottle with curved neck design and shake.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Use the left arm to pick the bottle with curved neck design.",
+    "Pick and shake the the blue-capped plastic bottle with the left arm.",
+    "Pick up the blue-capped plastic bottle with the left arm and shake.",
+    "Shake the bottle with curved neck design after picking it with the left arm.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Grab the bottle with curved neck design and shake it.",
+    "Use the left arm to grab the bottle with ridged neck and shake.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Use the left arm to pick the bottle with ridged neck.",
+    "Pick and shake the the bottle with curved neck design with the left arm.",
+    "Pick up the bottle with curved neck design with the left arm and shake.",
+    "Shake the blue-capped plastic bottle after picking it with the left arm.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Grab the blue-capped plastic bottle and give it a shake.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Use the left arm to grab the bottle with ridged neck and shake.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Use the left arm to pick the blue-capped plastic bottle.",
+    "Pick and shake the the blue-capped plastic bottle with the left arm.",
+    "Pick up the bottle with ridged neck with the left arm and shake.",
+    "Shake the bottle with ridged neck after picking it with the left arm.",
+    "Grab the bottle with ridged neck, shake it properly, then set it down.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Grab the blue-capped plastic bottle and give it a shake.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Use the left arm to grab the bottle with curved neck design and shake.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Use the left arm to pick the bottle with ridged neck.",
+    "Pick and shake the the bottle with curved neck design with the left arm.",
+    "Pick up the blue-capped plastic bottle with the left arm and shake.",
+    "Shake the bottle with curved neck design after picking it with the left arm.",
+    "Grab the bottle with ridged neck, shake it properly, then set it down.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Use the left arm to grab the bottle with curved neck design and shake.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Use the left arm to pick the bottle with ridged neck.",
+    "Pick and shake the the bottle with ridged neck with the left arm.",
+    "Pick up the blue-capped plastic bottle with the left arm and shake.",
+    "Shake the bottle with ridged neck after picking it with the left arm.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Use the left arm to grab the blue-capped plastic bottle and shake.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Use the left arm to pick the bottle with ridged neck.",
+    "Pick and shake the the bottle with curved neck design with the left arm.",
+    "Pick up the blue-capped plastic bottle with the left arm and shake.",
+    "Shake the bottle with ridged neck after picking it with the left arm.",
+    "Grab the blue-capped plastic bottle, shake it properly, then set it down.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Use the left arm to grab the bottle with curved neck design and shake.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Use the left arm to pick the blue-capped plastic bottle.",
+    "Pick and shake the the bottle with ridged neck with the left arm.",
+    "Pick up the blue-capped plastic bottle with the left arm and shake.",
+    "Shake the bottle with curved neck design after picking it with the left arm.",
+    "Grab the blue-capped plastic bottle, shake it properly, then set it down.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Use the left arm to grab the blue-capped plastic bottle and shake.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Use the left arm to pick the bottle with ridged neck.",
+    "Pick and shake the the bottle with curved neck design with the left arm.",
+    "Pick up the bottle with curved neck design with the left arm and shake.",
+    "Shake the bottle with curved neck design after picking it with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001313.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001313.json
new file mode 100644
index 0000000000000000000000000000000000000000..552963ecf1806db5e1a8e527060a02881c6b205e
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001313.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to grab the plastic bottle and shake it.",
+    "Shake the the cylindrical orange and white bottle properly after lifting.",
+    "Shake the smooth plastic bottle thoroughly after grabbing it.",
+    "Use the right arm to grab the white and orange plastic bottle and shake properly.",
+    "Grab the bottle with ribbed orange bottom and shake it steadily.",
+    "Hold the plastic bottle and shake it properly.",
+    "Shake the cylindrical orange and white bottle after grabbing it.",
+    "Use the right arm to pick and shake the smooth plastic bottle.",
+    "Grab the white and orange plastic bottle firmly, shake it, and put it down.",
+    "Secure the medium bottle with orange lid, shake it, and place it down.",
+    "Take the plastic bottle using the right arm and give it a shake.",
+    "Use the right arm to hold the medium bottle with orange lid and shake it.",
+    "Shake the drinking bottle with yellow label after holding it firmly.",
+    "Shake the yellow label bottle after lifting it.",
+    "Use the right arm to lift and shake the yellow label bottle.",
+    "Lift up the medium bottle with orange lid using the right arm, then shake.",
+    "Hold the orange bottle with the right arm and shake lightly.",
+    "Hold the white and orange plastic bottle, shake it briefly.",
+    "Pick up the smooth plastic bottle and shake it.",
+    "Grab and shake the bottle with ribbed orange bottom using the right arm.",
+    "Grab the plastic bottle using the right arm, then shake.",
+    "Pick the medium bottle with orange lid up using the right arm and shake it.",
+    "Catch the white and orange plastic bottle and shake it instantly.",
+    "Shake the drinking bottle with yellow label firmly after grabbing.",
+    "Shake the white and orange plastic bottle after grabbing it.",
+    "Hold and shake the the orange and white bottle with cap carefully.",
+    "Pick the yellow label bottle, shake it with the right arm.",
+    "Grab the smooth plastic bottle carefully and shake.",
+    "Pick up the cylindrical orange and white bottle and shake it well.",
+    "Lift the yellow label bottle and shake it thoroughly.",
+    "Secure the medium bottle with orange lid and perform a shake.",
+    "Grab the white and orange plastic bottle and move it to shake.",
+    "Using the right arm, shake the bottle with ribbed orange bottom and then place it back.",
+    "Lift the bottle with orange cap with the right arm and shake.",
+    "Shake the cylindrical orange and white bottle using the right arm after grabbing.",
+    "Hold the yellow label bottle steady, then shake it.",
+    "Pick the yellow label bottle up with the right arm and shake.",
+    "Lift the orange bottle and shake it gently.",
+    "Utilize the right arm to hold the smooth plastic bottle and shake it.",
+    "Use the right arm to lift and shake the orange bottle.",
+    "Grasp the drinking bottle with yellow label with the right arm and shake it.",
+    "Lift the medium orange bottle with the right arm and give it a shake.",
+    "Pick the medium bottle with orange lid and perform shaking motion.",
+    "Lift the smooth plastic bottle with the right arm and shake it.",
+    "Use the right arm to lift and shake the orange bottle.",
+    "Grip the drinking bottle with yellow label using the right arm and shake.",
+    "Shake the white and orange plastic bottle after grabbing it.",
+    "Grab the yellow label bottle with the right arm and shake.",
+    "Grab the cylindrical orange and white bottle and give it a shake.",
+    "With the right arm, pick the yellow label bottle and shake properly.",
+    "Use the right arm to grab the plastic bottle and shake it.",
+    "Shake the the bottle with ribbed orange bottom properly after lifting.",
+    "Shake the drinking bottle with yellow label thoroughly after grabbing it.",
+    "Use the right arm to grab the bottle with orange cap and shake properly.",
+    "Grab the drinking bottle with yellow label and shake it steadily.",
+    "Hold the medium orange bottle and shake it properly.",
+    "Shake the orange and white bottle with cap after grabbing it.",
+    "Use the right arm to pick and shake the yellow label bottle.",
+    "Grab the yellow label bottle firmly, shake it, and put it down.",
+    "Secure the bottle with orange cap, shake it, and place it down.",
+    "Take the bottle with ribbed orange bottom using the right arm and give it a shake.",
+    "Use the right arm to hold the orange and white bottle with cap and shake it.",
+    "Shake the orange bottle after holding it firmly.",
+    "Shake the cylindrical orange and white bottle after lifting it.",
+    "Use the right arm to lift and shake the medium orange bottle.",
+    "Lift up the yellow label bottle using the right arm, then shake.",
+    "Hold the drinking bottle with yellow label with the right arm and shake lightly.",
+    "Hold the smooth plastic bottle, shake it briefly.",
+    "Pick up the medium bottle with orange lid and shake it.",
+    "Grab and shake the bottle with ribbed orange bottom using the right arm.",
+    "Grab the white and orange plastic bottle using the right arm, then shake.",
+    "Pick the bottle with ribbed orange bottom up using the right arm and shake it.",
+    "Catch the plastic bottle and shake it instantly.",
+    "Shake the white and orange plastic bottle firmly after grabbing.",
+    "Shake the drinking bottle with yellow label after grabbing it.",
+    "Hold and shake the the bottle with orange cap carefully.",
+    "Pick the medium orange bottle, shake it with the right arm.",
+    "Grab the smooth plastic bottle carefully and shake.",
+    "Pick up the bottle with orange cap and shake it well.",
+    "Lift the medium bottle with orange lid and shake it thoroughly.",
+    "Secure the orange bottle and perform a shake.",
+    "Grab the cylindrical orange and white bottle and move it to shake.",
+    "Using the right arm, shake the bottle with orange cap and then place it back.",
+    "Lift the orange bottle with the right arm and shake.",
+    "Shake the bottle with orange cap using the right arm after grabbing.",
+    "Hold the medium orange bottle steady, then shake it.",
+    "Pick the orange bottle up with the right arm and shake.",
+    "Lift the medium orange bottle and shake it gently.",
+    "Utilize the right arm to hold the medium orange bottle and shake it.",
+    "Use the right arm to lift and shake the yellow label bottle.",
+    "Grasp the smooth plastic bottle with the right arm and shake it.",
+    "Lift the bottle with ribbed orange bottom with the right arm and give it a shake.",
+    "Pick the bottle with ribbed orange bottom and perform shaking motion.",
+    "Lift the orange bottle with the right arm and shake it.",
+    "Use the right arm to lift and shake the orange and white bottle with cap.",
+    "Grip the medium bottle with orange lid using the right arm and shake.",
+    "Shake the orange bottle after grabbing it.",
+    "Grab the plastic bottle with the right arm and shake.",
+    "Grab the smooth plastic bottle and give it a shake.",
+    "With the right arm, pick the medium bottle with orange lid and shake properly."
+  ],
+  "unseen": [
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Use the right arm to pick the bottle with curved body.",
+    "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.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Use the right arm to 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.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "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.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Shake the 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 bottle with yellow sticker label with the right arm and shake.",
+    "Grab the bottle with curved body and shake it.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "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.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Shake the 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 bottle with yellow sticker label with the right arm and shake.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "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.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Shake the bottle with 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 with the right arm and shake.",
+    "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 and shake the the bottle with curved body with the right arm.",
+    "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.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "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 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.",
+    "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.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "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.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Shake the bottle with yellow sticker label 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 with the right arm and shake.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "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.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Pick up the bottle with curved body and shake it.",
+    "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.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "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.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001355.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001355.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8cad0c991dcc4ba427ad0b0ce86d1b215f28623
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001355.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the bottle for liquids after grabbing it.",
+    "Grab the orange bottle using the left arm, then shake.",
+    "Secure the smooth plastic bottle and perform a shake.",
+    "Catch the plastic bottle with sealed yellow cap and shake it instantly.",
+    "Use the left arm to grab the yellow-capped plastic bottle and shake properly.",
+    "Pick up the bottle for liquids and shake it well.",
+    "Shake the bottle for liquids after holding it firmly.",
+    "Grab and shake the cylindrical orange bottle with yellow top using the left arm.",
+    "Grab the yellow-capped plastic bottle with the left arm and shake.",
+    "Shake the bottle with printed label using the left arm after grabbing.",
+    "Grasp the smooth plastic bottle with the left arm and shake it.",
+    "Use the left arm to grab the bottle with printed label and shake it.",
+    "Use the left arm to lift and shake the cylindrical orange bottle with yellow top.",
+    "Grab the bottle with printed label and move it to shake.",
+    "Pick the bottle with narrow neck, shake it with the left arm.",
+    "Secure the medium-sized orange bottle, shake it, and place it down.",
+    "Lift the bottle with printed label with the left arm and shake it.",
+    "Lift the yellow-capped plastic bottle with the left arm and give it a shake.",
+    "Grab the bottle for liquids carefully and shake.",
+    "Grab the orange bottle firmly, shake it, and put it down.",
+    "Hold and shake the the orange cylindrical bottle carefully.",
+    "Shake the the bottle with narrow neck properly after lifting.",
+    "Hold the bottle with narrow neck and shake it properly.",
+    "Shake the bottle with yellow cap thoroughly after grabbing it.",
+    "Hold the yellow-capped plastic bottle with the left arm and shake lightly.",
+    "Shake the plastic bottle with sealed yellow cap after lifting it.",
+    "Pick up the orange cylindrical bottle and shake it.",
+    "Shake the bottle with printed label firmly after grabbing.",
+    "Take the plastic bottle with sealed yellow cap using the left arm and give it a shake.",
+    "Lift the orange bottle and shake it gently.",
+    "Pick the plastic bottle up with the left arm and shake.",
+    "Grab the plastic bottle and shake it steadily.",
+    "Shake the orange cylindrical bottle after grabbing it.",
+    "Hold the bottle with printed label steady, then shake it.",
+    "Lift up the cylindrical orange bottle with yellow top using the left arm, then shake.",
+    "Shake the smooth plastic bottle after grabbing it.",
+    "Lift the plastic bottle and shake it thoroughly.",
+    "Pick the plastic bottle with sealed yellow cap up using the left arm and shake it.",
+    "Use the left arm to lift and shake the bottle with yellow cap.",
+    "Use the left arm to pick and shake the bottle with printed label.",
+    "Hold the bottle for liquids, shake it briefly.",
+    "Utilize the left arm to hold the bottle with yellow cap and shake it.",
+    "Use the left arm to lift and shake the smooth plastic bottle.",
+    "With the left arm, pick the medium-sized orange bottle and shake properly.",
+    "Grab the orange bottle and give it a shake.",
+    "Grip the plastic bottle using the left arm and shake.",
+    "Pick the plastic bottle and perform shaking motion.",
+    "Lift the medium-sized orange bottle with the left arm and shake.",
+    "Using the left arm, shake the orange bottle and then place it back.",
+    "Use the left arm to hold the yellow-capped plastic bottle and shake it.",
+    "Shake the smooth plastic bottle after grabbing it.",
+    "Grab the bottle with yellow cap using the left arm, then shake.",
+    "Secure the cylindrical orange bottle with yellow top and perform a shake.",
+    "Catch the bottle with narrow neck and shake it instantly.",
+    "Use the left arm to grab the orange bottle and shake properly.",
+    "Pick up the yellow-capped plastic bottle and shake it well.",
+    "Shake the smooth plastic bottle after holding it firmly.",
+    "Grab and shake the bottle for liquids using the left arm.",
+    "Grab the bottle with yellow cap with the left arm and shake.",
+    "Shake the bottle with printed label using the left arm after grabbing.",
+    "Grasp the medium-sized orange bottle with the left arm and shake it.",
+    "Use the left arm to grab the plastic bottle and shake it.",
+    "Use the left arm to lift and shake the yellow-capped plastic bottle.",
+    "Grab the cylindrical orange bottle with yellow top and move it to shake.",
+    "Pick the bottle with yellow cap, shake it with the left arm.",
+    "Secure the orange cylindrical bottle, shake it, and place it down.",
+    "Lift the orange cylindrical bottle with the left arm and shake it.",
+    "Lift the bottle with yellow cap with the left arm and give it a shake.",
+    "Grab the plastic bottle carefully and shake.",
+    "Grab the medium-sized orange bottle firmly, shake it, and put it down.",
+    "Hold and shake the the plastic bottle carefully.",
+    "Shake the the bottle with printed label properly after lifting.",
+    "Hold the cylindrical orange bottle with yellow top and shake it properly.",
+    "Shake the bottle with narrow neck thoroughly after grabbing it.",
+    "Hold the plastic bottle with sealed yellow cap with the left arm and shake lightly.",
+    "Shake the bottle for liquids after lifting it.",
+    "Pick up the orange cylindrical bottle and shake it.",
+    "Shake the bottle with printed label firmly after grabbing.",
+    "Take the plastic bottle with sealed yellow cap using the left arm and give it a shake.",
+    "Lift the orange bottle and shake it gently.",
+    "Pick the bottle with printed label up with the left arm and shake.",
+    "Grab the bottle with narrow neck and shake it steadily.",
+    "Shake the bottle for liquids after grabbing it.",
+    "Hold the bottle with narrow neck steady, then shake it.",
+    "Lift up the orange bottle using the left arm, then shake.",
+    "Shake the orange bottle after grabbing it.",
+    "Lift the bottle with narrow neck and shake it thoroughly.",
+    "Pick the bottle with yellow cap up using the left arm and shake it.",
+    "Use the left arm to lift and shake the medium-sized orange bottle.",
+    "Use the left arm to pick and shake the orange cylindrical bottle.",
+    "Hold the bottle with yellow cap, shake it briefly.",
+    "Utilize the left arm to hold the orange cylindrical bottle and shake it.",
+    "Use the left arm to lift and shake the cylindrical orange bottle with yellow top.",
+    "With the left arm, pick the smooth plastic bottle and shake properly.",
+    "Grab the bottle with narrow neck and give it a shake.",
+    "Grip the bottle with printed label using the left arm and shake.",
+    "Pick the orange bottle and perform shaking motion.",
+    "Lift the bottle with yellow cap with the left arm and shake.",
+    "Using the left arm, shake the yellow-capped plastic bottle and then place it back.",
+    "Use the left arm to hold the orange cylindrical bottle and shake it."
+  ],
+  "unseen": [
+    "Pick up the label-covered orange bottle and shake it.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the handheld orange bottle and shake it.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the handheld orange bottle and shake it.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Grab the handheld orange bottle, shake it properly, then set it down."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002002.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002002.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f2def3b1acca718cb314aff1f2ec29c4e9dc23e
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002002.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the black bottle and move it to shake.",
+    "Hold the beverage bottle with black body with the left arm and shake lightly.",
+    "Hold and shake the the black bottle carefully.",
+    "Pick up the drink bottle with rounded yellow lid and shake it.",
+    "Use the left arm to lift and shake the black cylindrical bottle with ridges.",
+    "Grab the yellow capped drink bottle using the left arm, then shake.",
+    "Shake the beverage bottle with black body after grabbing it.",
+    "Hold the medium black bottle with printed label, shake it briefly.",
+    "Secure the smooth black bottle with ridges, shake it, and place it down.",
+    "Pick the smooth black bottle with ridges up with the left arm and shake.",
+    "Using the left arm, shake the plastic bottle with colorful label and then place it back.",
+    "Shake the medium bottle with yellow cap after lifting it.",
+    "Utilize the left arm to hold the black plastic bottle with Pepsi logo and shake it.",
+    "Shake the yellow capped drink bottle thoroughly after grabbing it.",
+    "Shake the medium bottle with yellow cap after grabbing it.",
+    "Grip the smooth black bottle with ridges using the left arm and shake.",
+    "With the left arm, pick the beverage bottle with black body and shake properly.",
+    "Shake the the yellow capped drink bottle properly after lifting.",
+    "Shake the black plastic bottle with Pepsi logo after grabbing it.",
+    "Pick the smooth black bottle with ridges, shake it with the left arm.",
+    "Use the left arm to hold the drink bottle with rounded yellow lid and shake it.",
+    "Lift the black cylindrical bottle with ridges with the left arm and shake it.",
+    "Grab the medium black bottle with printed label firmly, shake it, and put it down.",
+    "Use the left arm to lift and shake the drink bottle with rounded yellow lid.",
+    "Take the medium black bottle with printed label using the left arm and give it a shake.",
+    "Use the left arm to lift and shake the plastic bottle with colorful label.",
+    "Grab the beverage bottle with black body carefully and shake.",
+    "Lift the plastic bottle with colorful label and shake it gently.",
+    "Lift the black plastic bottle with Pepsi logo with the left arm and shake.",
+    "Shake the beverage bottle with black body using the left arm after grabbing.",
+    "Pick the drink bottle with rounded yellow lid up using the left arm and shake it.",
+    "Grab the black plastic bottle with Pepsi logo with the left arm and shake.",
+    "Lift the beverage bottle with black body and shake it thoroughly.",
+    "Pick up the black cylindrical bottle with ridges and shake it well.",
+    "Pick the smooth black bottle with ridges and perform shaking motion.",
+    "Lift up the drink bottle with rounded yellow lid using the left arm, then shake.",
+    "Use the left arm to grab the bottle with blue and yellow print and shake it.",
+    "Grab and shake the black bottle using the left arm.",
+    "Grab the bottle with blue and yellow print and shake it steadily.",
+    "Hold the drink bottle with rounded yellow lid and shake it properly.",
+    "Shake the medium bottle with yellow cap firmly after grabbing.",
+    "Grasp the black plastic bottle with Pepsi logo with the left arm and shake it.",
+    "Secure the smooth black bottle with ridges and perform a shake.",
+    "Shake the plastic bottle with colorful label after holding it firmly.",
+    "Catch the medium bottle with yellow cap and shake it instantly.",
+    "Lift the black bottle with the left arm and give it a shake.",
+    "Use the left arm to pick and shake the bottle with blue and yellow print.",
+    "Grab the plastic bottle with colorful label and give it a shake.",
+    "Use the left arm to grab the black cylindrical bottle with ridges and shake properly.",
+    "Hold the medium black bottle with printed label steady, then shake it.",
+    "Grab the beverage bottle with black body and move it to shake.",
+    "Hold the drink bottle with rounded yellow lid with the left arm and shake lightly.",
+    "Hold and shake the the drink bottle with rounded yellow lid carefully.",
+    "Pick up the beverage bottle with black body and shake it.",
+    "Use the left arm to lift and shake the medium bottle with yellow cap.",
+    "Grab the smooth black bottle with ridges using the left arm, then shake.",
+    "Shake the yellow-capped cylindrical bottle after grabbing it.",
+    "Hold the medium black bottle with printed label, shake it briefly.",
+    "Secure the yellow capped drink bottle, shake it, and place it down.",
+    "Pick the medium bottle with yellow cap up with the left arm and shake.",
+    "Using the left arm, shake the black cylindrical bottle with ridges and then place it back.",
+    "Shake the black plastic bottle with Pepsi logo after lifting it.",
+    "Utilize the left arm to hold the black bottle and shake it.",
+    "Shake the bottle with blue and yellow print thoroughly after grabbing it.",
+    "Shake the yellow capped drink bottle after grabbing it.",
+    "Grip the drink bottle with rounded yellow lid using the left arm and shake.",
+    "With the left arm, pick the drink bottle with rounded yellow lid and shake properly.",
+    "Shake the the bottle with blue and yellow print properly after lifting.",
+    "Shake the smooth black bottle with ridges after grabbing it.",
+    "Pick the black cylindrical bottle with ridges, shake it with the left arm.",
+    "Use the left arm to hold the medium bottle with yellow cap and shake it.",
+    "Lift the plastic bottle with colorful label with the left arm and shake it.",
+    "Grab the beverage bottle with black body firmly, shake it, and put it down.",
+    "Use the left arm to lift and shake the medium bottle with yellow cap.",
+    "Take the bottle with blue and yellow print using the left arm and give it a shake.",
+    "Use the left arm to lift and shake the yellow-capped cylindrical bottle.",
+    "Grab the black cylindrical bottle with ridges carefully and shake.",
+    "Lift the plastic bottle with colorful label and shake it gently.",
+    "Lift the plastic bottle with colorful label with the left arm and shake.",
+    "Shake the black cylindrical bottle with ridges using the left arm after grabbing.",
+    "Pick the yellow capped drink bottle up using the left arm and shake it.",
+    "Grab the medium black bottle with printed label with the left arm and shake.",
+    "Lift the medium bottle with yellow cap and shake it thoroughly.",
+    "Pick up the black plastic bottle with Pepsi logo and shake it well.",
+    "Pick the beverage bottle with black body and perform shaking motion.",
+    "Lift up the smooth black bottle with ridges using the left arm, then shake.",
+    "Use the left arm to grab the yellow-capped cylindrical bottle and shake it.",
+    "Grab and shake the black cylindrical bottle with ridges using the left arm.",
+    "Grab the drink bottle with rounded yellow lid and shake it steadily.",
+    "Hold the black cylindrical bottle with ridges and shake it properly.",
+    "Shake the bottle with blue and yellow print firmly after grabbing.",
+    "Grasp the black bottle with the left arm and shake it.",
+    "Secure the drink bottle with rounded yellow lid and perform a shake.",
+    "Shake the black plastic bottle with Pepsi logo after holding it firmly.",
+    "Catch the yellow capped drink bottle and shake it instantly.",
+    "Lift the plastic bottle with colorful label with the left arm and give it a shake.",
+    "Use the left arm to pick and shake the beverage bottle with black body.",
+    "Grab the medium bottle with yellow cap and give it a shake.",
+    "Use the left arm to grab the bottle with blue and yellow print and shake properly.",
+    "Hold the medium bottle with yellow cap steady, then shake it."
+  ],
+  "unseen": [
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Shake the plastic bottle with blue label after picking it with the left arm.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Use the left arm to pick the plastic bottle with blue label.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Use the left arm to grab the plastic bottle with blue label and shake.",
+    "Pick and shake the the bottle with ridges near base with the left arm.",
+    "Pick up the plastic bottle with blue label with the left arm and shake.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Shake the plastic bottle with blue label after picking it with the left arm.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the left arm to pick the bottle with ridges near base.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Use the left arm to grab the plastic bottle with blue label and shake.",
+    "Pick and shake the the bottle with ridges near base with the left arm.",
+    "Pick up the bottle with ridges near base with the left arm and shake.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Shake the bottle with ridges near base after picking it with the left arm.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Use the left arm to pick the plastic bottle with blue label.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Pick and shake the the bottle with ridges near base with the left arm.",
+    "Pick up the bottle with ridges near base with the left arm and shake.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Shake the bottle with ridges near base after picking it with the left arm.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Use the left arm to pick the plastic bottle with blue label.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.",
+    "Pick up the bottle with ridges near base with the left arm and shake.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the left arm to pick the plastic bottle with blue label.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Use the left arm to grab the bottle with ridges near base and shake.",
+    "Pick and shake the the plastic bottle with blue label with the left arm.",
+    "Pick up the plastic bottle with blue label with the left arm and shake.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Shake the plastic bottle with blue label after picking it with the left arm.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Use the left arm to pick the hand-sized bottle with ridged bottom.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Use the left arm to grab the plastic bottle with blue label and shake.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.",
+    "Pick up the plastic bottle with blue label with the left arm and shake.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Shake the plastic bottle with blue label after picking it with the left arm.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Use the left arm to pick the bottle with ridges near base.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Pick and shake the the plastic bottle with blue label with the left arm.",
+    "Pick up the plastic bottle with blue label with the left arm and shake.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Use the left arm to pick the hand-sized bottle with ridged bottom.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Pick and shake the the plastic bottle with blue label with the left arm.",
+    "Pick up the plastic bottle with blue label with the left arm and shake.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Shake the bottle with ridges near base after picking it with the left arm.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the left arm to pick the hand-sized bottle with ridged bottom.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Use the left arm to grab the plastic bottle with blue label and shake.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.",
+    "Pick up the bottle with ridges near base with the left arm and shake.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Shake the bottle with ridges near base after picking it with the left arm.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Use the left arm to pick the bottle with ridges near base.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the left arm to grab the bottle with ridges near base and shake.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.",
+    "Pick up the hand-sized bottle with ridged bottom with the left arm and shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002004.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002004.json
new file mode 100644
index 0000000000000000000000000000000000000000..e49013871af129a0b50ece71d0848a72aaaf216b
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002004.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the cylindrical orange bottle with yellow top and shake it.",
+    "Grab the plastic bottle with sealed yellow cap and give it a shake.",
+    "Pick the orange cylindrical bottle, shake it with the left arm.",
+    "Pick the bottle for liquids up using the left arm and shake it.",
+    "Shake the orange cylindrical bottle firmly after grabbing.",
+    "Pick the yellow-capped plastic bottle up with the left arm and shake.",
+    "Hold and shake the the plastic bottle with sealed yellow cap carefully.",
+    "Lift the bottle with printed label and shake it gently.",
+    "Use the left arm to lift and shake the plastic bottle with sealed yellow cap.",
+    "Grab the plastic bottle firmly, shake it, and put it down.",
+    "Shake the the smooth plastic bottle properly after lifting.",
+    "Hold the bottle with printed label, shake it briefly.",
+    "Shake the smooth plastic bottle using the left arm after grabbing.",
+    "Grab the smooth plastic bottle and shake it steadily.",
+    "Use the left arm to pick and shake the medium-sized orange bottle.",
+    "Use the left arm to grab the orange bottle and shake it.",
+    "Grip the orange cylindrical bottle using the left arm and shake.",
+    "Grab the bottle with printed label carefully and shake.",
+    "Use the left arm to grab the medium-sized orange bottle and shake properly.",
+    "Pick the yellow-capped plastic bottle and perform shaking motion.",
+    "Shake the smooth plastic bottle thoroughly after grabbing it.",
+    "Shake the bottle with narrow neck after grabbing it.",
+    "Shake the cylindrical orange bottle with yellow top after grabbing it.",
+    "Hold the smooth plastic bottle with the left arm and shake lightly.",
+    "Lift the medium-sized orange bottle with the left arm and shake.",
+    "Utilize the left arm to hold the cylindrical orange bottle with yellow top and shake it.",
+    "Take the medium-sized orange bottle using the left arm and give it a shake.",
+    "Grab the bottle with printed label and move it to shake.",
+    "Catch the bottle with yellow cap and shake it instantly.",
+    "Shake the cylindrical orange bottle with yellow top after grabbing it.",
+    "Lift the plastic bottle with the left arm and give it a shake.",
+    "Lift up the smooth plastic bottle using the left arm, then shake.",
+    "Using the left arm, shake the plastic bottle and then place it back.",
+    "Shake the medium-sized orange bottle after lifting it.",
+    "Hold the plastic bottle with sealed yellow cap steady, then shake it.",
+    "Secure the bottle for liquids and perform a shake.",
+    "Use the left arm to lift and shake the bottle with narrow neck.",
+    "Use the left arm to hold the orange cylindrical bottle and shake it.",
+    "Lift the plastic bottle with sealed yellow cap and shake it thoroughly.",
+    "Use the left arm to lift and shake the bottle with narrow neck.",
+    "Grab and shake the cylindrical orange bottle with yellow top using the left arm.",
+    "Hold the plastic bottle and shake it properly.",
+    "Grab the orange bottle using the left arm, then shake.",
+    "Pick up the plastic bottle and shake it well.",
+    "Shake the bottle with narrow neck after holding it firmly.",
+    "Grab the cylindrical orange bottle with yellow top with the left arm and shake.",
+    "Grasp the yellow-capped plastic bottle with the left arm and shake it.",
+    "With the left arm, pick the plastic bottle with sealed yellow cap and shake properly.",
+    "Secure the yellow-capped plastic bottle, shake it, and place it down.",
+    "Lift the orange cylindrical bottle with the left arm and shake it.",
+    "Pick up the bottle for liquids and shake it.",
+    "Grab the cylindrical orange bottle with yellow top and give it a shake.",
+    "Pick the bottle with narrow neck, shake it with the left arm.",
+    "Pick the cylindrical orange bottle with yellow top up using the left arm and shake it.",
+    "Shake the bottle for liquids firmly after grabbing.",
+    "Pick the orange bottle up with the left arm and shake.",
+    "Hold and shake the the bottle with yellow cap carefully.",
+    "Lift the yellow-capped plastic bottle and shake it gently.",
+    "Use the left arm to lift and shake the bottle with printed label.",
+    "Grab the bottle with narrow neck firmly, shake it, and put it down.",
+    "Shake the the bottle for liquids properly after lifting.",
+    "Hold the plastic bottle with sealed yellow cap, shake it briefly.",
+    "Shake the bottle with printed label using the left arm after grabbing.",
+    "Grab the orange cylindrical bottle and shake it steadily.",
+    "Use the left arm to pick and shake the yellow-capped plastic bottle.",
+    "Use the left arm to grab the bottle with yellow cap and shake it.",
+    "Grip the bottle with yellow cap using the left arm and shake.",
+    "Grab the medium-sized orange bottle carefully and shake.",
+    "Use the left arm to grab the plastic bottle with sealed yellow cap and shake properly.",
+    "Pick the orange bottle and perform shaking motion.",
+    "Shake the bottle with narrow neck thoroughly after grabbing it.",
+    "Shake the cylindrical orange bottle with yellow top after grabbing it.",
+    "Shake the orange bottle after grabbing it.",
+    "Hold the orange bottle with the left arm and shake lightly.",
+    "Lift the orange cylindrical bottle with the left arm and shake.",
+    "Utilize the left arm to hold the orange bottle and shake it.",
+    "Take the yellow-capped plastic bottle using the left arm and give it a shake.",
+    "Grab the plastic bottle with sealed yellow cap and move it to shake.",
+    "Catch the bottle with narrow neck and shake it instantly.",
+    "Shake the plastic bottle after grabbing it.",
+    "Lift the bottle with printed label with the left arm and give it a shake.",
+    "Lift up the cylindrical orange bottle with yellow top using the left arm, then shake.",
+    "Using the left arm, shake the yellow-capped plastic bottle and then place it back.",
+    "Shake the cylindrical orange bottle with yellow top after lifting it.",
+    "Hold the bottle for liquids steady, then shake it.",
+    "Secure the orange bottle and perform a shake.",
+    "Use the left arm to lift and shake the bottle with narrow neck.",
+    "Use the left arm to hold the bottle for liquids and shake it.",
+    "Lift the bottle with yellow cap and shake it thoroughly.",
+    "Use the left arm to lift and shake the plastic bottle with sealed yellow cap.",
+    "Grab and shake the smooth plastic bottle using the left arm.",
+    "Hold the orange bottle and shake it properly.",
+    "Grab the orange bottle using the left arm, then shake.",
+    "Pick up the plastic bottle and shake it well.",
+    "Shake the orange cylindrical bottle after holding it firmly.",
+    "Grab the plastic bottle with sealed yellow cap with the left arm and shake.",
+    "Grasp the orange cylindrical bottle with the left arm and shake it.",
+    "With the left arm, pick the smooth plastic bottle and shake properly.",
+    "Secure the bottle with printed label, shake it, and place it down.",
+    "Lift the orange cylindrical bottle with the left arm and shake it."
+  ],
+  "unseen": [
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Grab the handheld orange bottle and shake it.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Grab the handheld orange bottle and shake it.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Grab the handheld orange bottle and shake it.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Shake the handheld orange bottle after picking it with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002075.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002075.json
new file mode 100644
index 0000000000000000000000000000000000000000..72689ba5f88f3db81aeb308e355787092c027bd3
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002075.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the cylindrical bottle with narrow neck after lifting it.",
+    "Use the right arm to pick and shake the handheld brown bottle with white lid.",
+    "Pick up the plastic bottle for liquids and shake it well.",
+    "Pick the rounded bottle with printed details, shake it with the right arm.",
+    "Pick the handheld brown bottle with white lid and perform shaking motion.",
+    "Shake the cylindrical bottle with narrow neck firmly after grabbing.",
+    "Grab the bottle with white cap and move it to shake.",
+    "Catch the smooth brown bottle and shake it instantly.",
+    "Pick up the rounded bottle with printed details and shake it.",
+    "Pick the handheld brown bottle with white lid up using the right arm and shake it.",
+    "Shake the medium plastic bottle after grabbing it.",
+    "Hold the medium bottle with smooth texture, shake it briefly.",
+    "Shake the the bottle with dark brown color properly after lifting.",
+    "Shake the plastic bottle with printed label using the right arm after grabbing.",
+    "Use the right arm to lift and shake the white-capped brown cylindrical bottle.",
+    "Hold the bottle with brown body and white top with the right arm and shake lightly.",
+    "Secure the cylindrical bottle with narrow neck, shake it, and place it down.",
+    "Pick the medium plastic bottle up with the right arm and shake.",
+    "Shake the white-capped brown cylindrical bottle thoroughly after grabbing it.",
+    "Grab the plastic bottle with printed label using the right arm, then shake.",
+    "Using the right arm, shake the rounded bottle with printed details and then place it back.",
+    "Grip the smooth brown bottle using the right arm and shake.",
+    "Grab the medium bottle with smooth texture and shake it steadily.",
+    "Lift the cylindrical bottle with narrow neck and shake it gently.",
+    "Hold and shake the the medium bottle with smooth texture carefully.",
+    "Grab and shake the bottle with brown body and white top using the right arm.",
+    "Lift the plastic bottle with printed label with the right arm and give it a shake.",
+    "Grab the handheld brown bottle with white lid and give it a shake.",
+    "Shake the bottle with dark brown color after grabbing it.",
+    "Grab the plastic bottle for liquids firmly, shake it, and put it down.",
+    "Grasp the smooth brown bottle with the right arm and shake it.",
+    "Take the white-capped brown cylindrical bottle using the right arm and give it a shake.",
+    "Use the right arm to lift and shake the bottle with brown body and white top.",
+    "Use the right arm to hold the bottle with brown body and white top and shake it.",
+    "Lift the medium bottle with smooth texture and shake it thoroughly.",
+    "Lift the medium bottle with smooth texture with the right arm and shake.",
+    "Utilize the right arm to hold the bottle with brown body and white top and shake it.",
+    "Use the right arm to lift and shake the medium bottle with smooth texture.",
+    "With the right arm, pick the smooth brown bottle and shake properly.",
+    "Hold the plastic bottle with printed label and shake it properly.",
+    "Lift the bottle with dark brown color with the right arm and shake it.",
+    "Secure the smooth brown bottle and perform a shake.",
+    "Hold the white-capped brown cylindrical bottle steady, then shake it.",
+    "Grab the plastic bottle with printed label with the right arm and shake.",
+    "Lift up the bottle with brown body and white top using the right arm, then shake.",
+    "Shake the handheld brown bottle with white lid after holding it firmly.",
+    "Use the right arm to grab the plastic bottle for liquids and shake properly.",
+    "Use the right arm to grab the medium bottle with smooth texture and shake it.",
+    "Shake the smooth brown bottle after grabbing it.",
+    "Grab the medium plastic bottle carefully and shake.",
+    "Shake the handheld brown bottle with white lid after lifting it.",
+    "Use the right arm to pick and shake the rounded bottle with printed details.",
+    "Pick up the smooth brown bottle and shake it well.",
+    "Pick the plastic bottle for liquids, shake it with the right arm.",
+    "Pick the plastic bottle for liquids and perform shaking motion.",
+    "Shake the cylindrical bottle with narrow neck firmly after grabbing.",
+    "Grab the bottle with white cap and move it to shake.",
+    "Catch the handheld brown bottle with white lid and shake it instantly.",
+    "Pick up the bottle with dark brown color and shake it.",
+    "Pick the cylindrical bottle with narrow neck up using the right arm and shake it.",
+    "Shake the medium plastic bottle after grabbing it.",
+    "Hold the smooth brown bottle, shake it briefly.",
+    "Shake the the rounded bottle with printed details properly after lifting.",
+    "Shake the handheld brown bottle with white lid using the right arm after grabbing.",
+    "Use the right arm to lift and shake the cylindrical bottle with narrow neck.",
+    "Hold the white-capped brown cylindrical bottle with the right arm and shake lightly.",
+    "Secure the handheld brown bottle with white lid, shake it, and place it down.",
+    "Pick the white-capped brown cylindrical bottle up with the right arm and shake.",
+    "Shake the white-capped brown cylindrical bottle thoroughly after grabbing it.",
+    "Grab the handheld brown bottle with white lid using the right arm, then shake.",
+    "Using the right arm, shake the bottle with dark brown color and then place it back.",
+    "Grip the handheld brown bottle with white lid using the right arm and shake.",
+    "Grab the rounded bottle with printed details and shake it steadily.",
+    "Lift the medium plastic bottle and shake it gently.",
+    "Hold and shake the the bottle with white cap carefully.",
+    "Grab and shake the plastic bottle with printed label using the right arm.",
+    "Lift the bottle with dark brown color with the right arm and give it a shake.",
+    "Grab the cylindrical bottle with narrow neck and give it a shake.",
+    "Shake the plastic bottle with printed label after grabbing it.",
+    "Grab the medium plastic bottle firmly, shake it, and put it down.",
+    "Grasp the plastic bottle for liquids with the right arm and shake it.",
+    "Take the bottle with dark brown color using the right arm and give it a shake.",
+    "Use the right arm to lift and shake the cylindrical bottle with narrow neck.",
+    "Use the right arm to hold the bottle with brown body and white top and shake it.",
+    "Lift the medium plastic bottle and shake it thoroughly.",
+    "Lift the white-capped brown cylindrical bottle with the right arm and shake.",
+    "Utilize the right arm to hold the rounded bottle with printed details and shake it.",
+    "Use the right arm to lift and shake the medium bottle with smooth texture.",
+    "With the right arm, pick the cylindrical bottle with narrow neck and shake properly.",
+    "Hold the medium bottle with smooth texture and shake it properly.",
+    "Lift the medium bottle with smooth texture with the right arm and shake it.",
+    "Secure the cylindrical bottle with narrow neck and perform a shake.",
+    "Hold the smooth brown bottle steady, then shake it.",
+    "Grab the bottle with white cap with the right arm and shake.",
+    "Lift up the bottle with white cap using the right arm, then shake.",
+    "Shake the smooth brown bottle after holding it firmly.",
+    "Use the right arm to grab the plastic bottle for liquids and shake properly.",
+    "Use the right arm to grab the bottle with dark brown color and shake it.",
+    "Shake the medium plastic bottle after grabbing it.",
+    "Grab the plastic bottle for liquids carefully and shake."
+  ],
+  "unseen": [
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Grab the brown bottle and give it a shake.",
+    "Use the right arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Pick up the brown bottle and shake it.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Grab the brown bottle and shake it.",
+    "Use the right arm to pick the brown bottle.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Use the right arm to pick the brown cylindrical bottle with label.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Grab the brown bottle and give it a shake.",
+    "Use the right arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Grab the brown bottle and shake it.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "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.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Use the right arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Use the right arm to pick the brown bottle.",
+    "Pick up the brown bottle and shake it.",
+    "Shake the lightweight plastic brown bottle after picking it with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Grab the brown bottle and give it a shake.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Pick up the lightweight plastic brown bottle with the right arm and shake.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Use the right arm to pick the brown cylindrical bottle with label.",
+    "Pick up the brown bottle and shake it.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Use the right arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Use the right arm to pick the brown cylindrical bottle with label.",
+    "Pick up the brown bottle and shake it.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Grab the brown bottle and give it a shake.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Pick up the lightweight plastic brown bottle with the right arm and shake.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Grab the brown bottle and shake it.",
+    "Use the right arm to pick the brown cylindrical bottle with label.",
+    "Pick up the brown bottle and shake it.",
+    "Shake the lightweight plastic brown bottle after picking it with the right arm.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Grab the brown bottle and give it a shake.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Pick up the brown bottle and shake it.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Pick up the brown bottle and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002152.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002152.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8093ab30bf057fd04a793cd0491ee00211b85e5
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002152.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the bottle with printed label using the left arm, then shake.",
+    "Shake the orange cylindrical bottle after grabbing it.",
+    "Hold the cylindrical orange bottle with yellow top and shake it properly.",
+    "Use the left arm to lift and shake the medium-sized orange bottle.",
+    "Grab the yellow-capped plastic bottle and move it to shake.",
+    "Use the left arm to lift and shake the bottle with narrow neck.",
+    "Use the left arm to pick and shake the medium-sized orange bottle.",
+    "Take the smooth plastic bottle using the left arm and give it a shake.",
+    "Lift the orange cylindrical bottle with the left arm and shake.",
+    "Grab the smooth plastic bottle and give it a shake.",
+    "Grab the plastic bottle with sealed yellow cap firmly, shake it, and put it down.",
+    "Grip the bottle for liquids using the left arm and shake.",
+    "Grab the medium-sized orange bottle and shake it steadily.",
+    "Grasp the cylindrical orange bottle with yellow top with the left arm and shake it.",
+    "Pick up the bottle with yellow cap and shake it.",
+    "Grab the bottle for liquids with the left arm and shake.",
+    "Lift the plastic bottle with the left arm and shake it.",
+    "Using the left arm, shake the plastic bottle with sealed yellow cap and then place it back.",
+    "With the left arm, pick the medium-sized orange bottle and shake properly.",
+    "Shake the plastic bottle firmly after grabbing.",
+    "Shake the bottle with printed label after grabbing it.",
+    "Pick up the bottle with yellow cap and shake it well.",
+    "Shake the bottle with yellow cap after holding it firmly.",
+    "Secure the bottle with yellow cap, shake it, and place it down.",
+    "Shake the bottle for liquids after grabbing it.",
+    "Shake the the yellow-capped plastic bottle properly after lifting.",
+    "Utilize the left arm to hold the bottle for liquids and shake it.",
+    "Hold the medium-sized orange bottle steady, then shake it.",
+    "Pick the bottle with yellow cap and perform shaking motion.",
+    "Hold and shake the the bottle with printed label carefully.",
+    "Use the left arm to hold the plastic bottle with sealed yellow cap and shake it.",
+    "Hold the bottle with printed label with the left arm and shake lightly.",
+    "Shake the smooth plastic bottle after lifting it.",
+    "Shake the orange bottle thoroughly after grabbing it.",
+    "Pick the bottle with yellow cap, shake it with the left arm.",
+    "Pick the bottle for liquids up using the left arm and shake it.",
+    "Grab and shake the bottle with printed label using the left arm.",
+    "Use the left arm to grab the cylindrical orange bottle with yellow top and shake it.",
+    "Hold the bottle with yellow cap, shake it briefly.",
+    "Lift up the plastic bottle with sealed yellow cap using the left arm, then shake.",
+    "Pick the plastic bottle up with the left arm and shake.",
+    "Lift the bottle with yellow cap and shake it gently.",
+    "Shake the plastic bottle using the left arm after grabbing.",
+    "Lift the bottle with printed label and shake it thoroughly.",
+    "Lift the smooth plastic bottle with the left arm and give it a shake.",
+    "Grab the cylindrical orange bottle with yellow top carefully and shake.",
+    "Use the left arm to lift and shake the bottle with narrow neck.",
+    "Secure the bottle with yellow cap and perform a shake.",
+    "Use the left arm to grab the yellow-capped plastic bottle and shake properly.",
+    "Catch the bottle with narrow neck and shake it instantly.",
+    "Grab the orange bottle using the left arm, then shake.",
+    "Shake the medium-sized orange bottle after grabbing it.",
+    "Hold the cylindrical orange bottle with yellow top and shake it properly.",
+    "Use the left arm to lift and shake the bottle with printed label.",
+    "Grab the orange cylindrical bottle and move it to shake.",
+    "Use the left arm to lift and shake the bottle for liquids.",
+    "Use the left arm to pick and shake the bottle for liquids.",
+    "Take the cylindrical orange bottle with yellow top using the left arm and give it a shake.",
+    "Lift the bottle with printed label with the left arm and shake.",
+    "Grab the plastic bottle with sealed yellow cap and give it a shake.",
+    "Grab the cylindrical orange bottle with yellow top firmly, shake it, and put it down.",
+    "Grip the bottle with narrow neck using the left arm and shake.",
+    "Grab the bottle with narrow neck and shake it steadily.",
+    "Grasp the medium-sized orange bottle with the left arm and shake it.",
+    "Pick up the plastic bottle with sealed yellow cap and shake it.",
+    "Grab the plastic bottle with the left arm and shake.",
+    "Lift the plastic bottle with the left arm and shake it.",
+    "Using the left arm, shake the orange cylindrical bottle and then place it back.",
+    "With the left arm, pick the plastic bottle with sealed yellow cap and shake properly.",
+    "Shake the bottle for liquids firmly after grabbing.",
+    "Shake the bottle with yellow cap after grabbing it.",
+    "Pick up the bottle with narrow neck and shake it well.",
+    "Shake the plastic bottle with sealed yellow cap after holding it firmly.",
+    "Secure the orange cylindrical bottle, shake it, and place it down.",
+    "Shake the plastic bottle with sealed yellow cap after grabbing it.",
+    "Shake the the yellow-capped plastic bottle properly after lifting.",
+    "Utilize the left arm to hold the bottle with printed label and shake it.",
+    "Hold the bottle with yellow cap steady, then shake it.",
+    "Pick the bottle with narrow neck and perform shaking motion.",
+    "Hold and shake the the orange cylindrical bottle carefully.",
+    "Use the left arm to hold the orange cylindrical bottle and shake it.",
+    "Hold the plastic bottle with the left arm and shake lightly.",
+    "Shake the orange cylindrical bottle after lifting it.",
+    "Shake the bottle with yellow cap thoroughly after grabbing it.",
+    "Pick the plastic bottle, shake it with the left arm.",
+    "Pick the yellow-capped plastic bottle up using the left arm and shake it.",
+    "Grab and shake the plastic bottle using the left arm.",
+    "Use the left arm to grab the cylindrical orange bottle with yellow top and shake it.",
+    "Hold the orange bottle, shake it briefly.",
+    "Lift up the bottle for liquids using the left arm, then shake.",
+    "Pick the bottle with printed label up with the left arm and shake.",
+    "Lift the cylindrical orange bottle with yellow top and shake it gently.",
+    "Shake the bottle with printed label using the left arm after grabbing.",
+    "Lift the cylindrical orange bottle with yellow top and shake it thoroughly.",
+    "Lift the bottle with printed label with the left arm and give it a shake.",
+    "Grab the medium-sized orange bottle carefully and shake.",
+    "Use the left arm to lift and shake the bottle with printed label.",
+    "Secure the medium-sized orange bottle and perform a shake.",
+    "Use the left arm to grab the bottle with yellow cap and shake properly.",
+    "Catch the plastic bottle and shake it instantly."
+  ],
+  "unseen": [
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Grab the handheld orange bottle and shake it.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Grab the handheld orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Grab the handheld orange bottle and shake it.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Grab the handheld orange bottle and shake it.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Use the left arm to pick the label-covered orange bottle."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002172.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002172.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d10bf64aee6007aee678696068d5db634a3701d
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002172.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the bottle with printed label using the left arm and give it a shake.",
+    "Grab the plastic bottle using the left arm, then shake.",
+    "Lift the yellow-capped plastic bottle and shake it thoroughly.",
+    "Pick the cylindrical orange bottle with yellow top and perform shaking motion.",
+    "Shake the plastic bottle thoroughly after grabbing it.",
+    "Hold the yellow-capped plastic bottle steady, then shake it.",
+    "Use the left arm to pick and shake the orange cylindrical bottle.",
+    "Secure the bottle with yellow cap and perform a shake.",
+    "Grasp the bottle with narrow neck with the left arm and shake it.",
+    "Use the left arm to grab the smooth plastic bottle and shake it.",
+    "Grab the smooth plastic bottle and give it a shake.",
+    "Catch the smooth plastic bottle and shake it instantly.",
+    "Use the left arm to lift and shake the yellow-capped plastic bottle.",
+    "Pick the yellow-capped plastic bottle up using the left arm and shake it.",
+    "Use the left arm to grab the bottle with narrow neck and shake properly.",
+    "With the left arm, pick the orange bottle and shake properly.",
+    "Shake the the bottle with narrow neck properly after lifting.",
+    "Shake the bottle with printed label after grabbing it.",
+    "Lift the plastic bottle with the left arm and shake.",
+    "Hold the bottle with yellow cap and shake it properly.",
+    "Use the left arm to lift and shake the medium-sized orange bottle.",
+    "Shake the plastic bottle with sealed yellow cap after lifting it.",
+    "Grip the orange cylindrical bottle using the left arm and shake.",
+    "Lift the plastic bottle with sealed yellow cap with the left arm and give it a shake.",
+    "Hold the plastic bottle with the left arm and shake lightly.",
+    "Grab the bottle for liquids and move it to shake.",
+    "Pick up the bottle with narrow neck and shake it.",
+    "Grab the cylindrical orange bottle with yellow top with the left arm and shake.",
+    "Lift up the medium-sized orange bottle using the left arm, then shake.",
+    "Use the left arm to hold the plastic bottle with sealed yellow cap and shake it.",
+    "Lift the bottle with narrow neck with the left arm and shake it.",
+    "Lift the plastic bottle with sealed yellow cap and shake it gently.",
+    "Grab the orange cylindrical bottle and shake it steadily.",
+    "Shake the medium-sized orange bottle after holding it firmly.",
+    "Use the left arm to lift and shake the orange bottle.",
+    "Pick the yellow-capped plastic bottle, shake it with the left arm.",
+    "Shake the cylindrical orange bottle with yellow top after grabbing it.",
+    "Hold the orange bottle, shake it briefly.",
+    "Pick up the plastic bottle with sealed yellow cap and shake it well.",
+    "Pick the plastic bottle up with the left arm and shake.",
+    "Utilize the left arm to hold the plastic bottle and shake it.",
+    "Grab the medium-sized orange bottle firmly, shake it, and put it down.",
+    "Hold and shake the the yellow-capped plastic bottle carefully.",
+    "Secure the bottle with printed label, shake it, and place it down.",
+    "Shake the yellow-capped plastic bottle firmly after grabbing.",
+    "Shake the bottle with printed label after grabbing it.",
+    "Grab the bottle with narrow neck carefully and shake.",
+    "Grab and shake the cylindrical orange bottle with yellow top using the left arm.",
+    "Using the left arm, shake the medium-sized orange bottle and then place it back.",
+    "Shake the yellow-capped plastic bottle using the left arm after grabbing.",
+    "Take the plastic bottle using the left arm and give it a shake.",
+    "Grab the medium-sized orange bottle using the left arm, then shake.",
+    "Lift the bottle with yellow cap and shake it thoroughly.",
+    "Pick the bottle with printed label and perform shaking motion.",
+    "Shake the bottle with yellow cap thoroughly after grabbing it.",
+    "Hold the plastic bottle with sealed yellow cap steady, then shake it.",
+    "Use the left arm to pick and shake the yellow-capped plastic bottle.",
+    "Secure the bottle with narrow neck and perform a shake.",
+    "Grasp the bottle with yellow cap with the left arm and shake it.",
+    "Use the left arm to grab the medium-sized orange bottle and shake it.",
+    "Grab the orange bottle and give it a shake.",
+    "Catch the bottle with yellow cap and shake it instantly.",
+    "Use the left arm to lift and shake the smooth plastic bottle.",
+    "Pick the bottle with narrow neck up using the left arm and shake it.",
+    "Use the left arm to grab the smooth plastic bottle and shake properly.",
+    "With the left arm, pick the medium-sized orange bottle and shake properly.",
+    "Shake the the plastic bottle properly after lifting.",
+    "Shake the bottle with narrow neck after grabbing it.",
+    "Lift the bottle for liquids with the left arm and shake.",
+    "Hold the bottle for liquids and shake it properly.",
+    "Use the left arm to lift and shake the orange bottle.",
+    "Shake the cylindrical orange bottle with yellow top after lifting it.",
+    "Grip the plastic bottle with sealed yellow cap using the left arm and shake.",
+    "Lift the plastic bottle with the left arm and give it a shake.",
+    "Hold the cylindrical orange bottle with yellow top with the left arm and shake lightly.",
+    "Grab the bottle for liquids and move it to shake.",
+    "Pick up the cylindrical orange bottle with yellow top and shake it.",
+    "Grab the plastic bottle with sealed yellow cap with the left arm and shake.",
+    "Lift up the bottle for liquids using the left arm, then shake.",
+    "Use the left arm to hold the bottle with narrow neck and shake it.",
+    "Lift the bottle with yellow cap with the left arm and shake it.",
+    "Lift the medium-sized orange bottle and shake it gently.",
+    "Grab the cylindrical orange bottle with yellow top and shake it steadily.",
+    "Shake the smooth plastic bottle after holding it firmly.",
+    "Use the left arm to lift and shake the bottle with yellow cap.",
+    "Pick the bottle with printed label, shake it with the left arm.",
+    "Shake the smooth plastic bottle after grabbing it.",
+    "Hold the bottle with printed label, shake it briefly.",
+    "Pick up the bottle for liquids and shake it well.",
+    "Pick the orange cylindrical bottle up with the left arm and shake.",
+    "Utilize the left arm to hold the orange bottle and shake it.",
+    "Grab the bottle with narrow neck firmly, shake it, and put it down.",
+    "Hold and shake the the orange cylindrical bottle carefully.",
+    "Secure the cylindrical orange bottle with yellow top, shake it, and place it down.",
+    "Shake the cylindrical orange bottle with yellow top firmly after grabbing.",
+    "Shake the plastic bottle after grabbing it.",
+    "Grab the cylindrical orange bottle with yellow top carefully and shake.",
+    "Grab and shake the plastic bottle with sealed yellow cap using the left arm.",
+    "Using the left arm, shake the bottle with yellow cap and then place it back.",
+    "Shake the smooth plastic bottle using the left arm after grabbing."
+  ],
+  "unseen": [
+    "Grab the handheld orange bottle and shake it.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Pick up the label-covered orange bottle and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002193.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002193.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6e74da7f5305e7239e5a6757d3bc56a93bd30a9
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002193.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the bottle for liquids steady, then shake it.",
+    "Shake the yellow bottle with green label firmly after grabbing.",
+    "Lift the yellow bottle and shake it gently.",
+    "Lift the smooth yellow plastic bottle with the right arm and shake it.",
+    "With the right arm, pick the yellow bottle with green label and shake properly.",
+    "Hold and shake the the yellow bottle with flower design carefully.",
+    "Use the right arm to grab the plastic bottle and shake properly.",
+    "Shake the plastic bottle after holding it firmly.",
+    "Pick the bottle for liquids up using the right arm and shake it.",
+    "Take the yellow bottle using the right arm and give it a shake.",
+    "Shake the bottle with white cap using the right arm after grabbing.",
+    "Grasp the plastic bottle with the right arm and shake it.",
+    "Shake the yellow bottle with green label after lifting it.",
+    "Grab the yellow bottle with cylindrical cap firmly, shake it, and put it down.",
+    "Grab the yellow bottle using the right arm, then shake.",
+    "Use the right arm to grab the yellow bottle with flower design and shake it.",
+    "Catch the bottle with white cap and shake it instantly.",
+    "Grab the yellow body bottle and give it a shake.",
+    "Using the right arm, shake the plastic bottle and then place it back.",
+    "Pick the yellow body bottle up with the right arm and shake.",
+    "Grab and shake the bottle with white cap using the right arm.",
+    "Grab the smooth yellow plastic bottle with the right arm and shake.",
+    "Shake the yellow body bottle after grabbing it.",
+    "Lift up the yellow bottle with flower design using the right arm, then shake.",
+    "Hold the smooth yellow plastic bottle with the right arm and shake lightly.",
+    "Shake the yellow bottle with green label after grabbing it.",
+    "Pick the plastic bottle and perform shaking motion.",
+    "Shake the yellow bottle with cylindrical cap after grabbing it.",
+    "Grab the yellow body bottle carefully and shake.",
+    "Secure the rectangular bottle, shake it, and place it down.",
+    "Lift the yellow bottle with cylindrical cap with the right arm and give it a shake.",
+    "Lift the yellow body bottle and shake it thoroughly.",
+    "Pick the handheld bottle, shake it with the right arm.",
+    "Lift the bottle for liquids with the right arm and shake.",
+    "Shake the the bottle with green and white label properly after lifting.",
+    "Grab the bottle for liquids and shake it steadily.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Grip the plastic bottle using the right arm and shake.",
+    "Grab the rectangular bottle and move it to shake.",
+    "Shake the yellow bottle with cylindrical cap thoroughly after grabbing it.",
+    "Use the right arm to lift and shake the handheld bottle.",
+    "Secure the yellow bottle with flower design and perform a shake.",
+    "Pick up the yellow bottle and shake it well.",
+    "Pick up the yellow bottle with cylindrical cap and shake it.",
+    "Use the right arm to pick and shake the yellow bottle.",
+    "Utilize the right arm to hold the yellow bottle with flower design and shake it.",
+    "Hold the plastic bottle and shake it properly.",
+    "Use the right arm to hold the yellow bottle with green label and shake it.",
+    "Hold the yellow bottle with flower design, shake it briefly.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Hold the plastic bottle steady, then shake it.",
+    "Shake the yellow bottle with flower design firmly after grabbing.",
+    "Lift the rectangular bottle and shake it gently.",
+    "Lift the rectangular bottle with the right arm and shake it.",
+    "With the right arm, pick the smooth yellow plastic bottle and shake properly.",
+    "Hold and shake the the bottle with white cap carefully.",
+    "Use the right arm to grab the yellow bottle with flower design and shake properly.",
+    "Shake the yellow bottle after holding it firmly.",
+    "Pick the yellow bottle with green label up using the right arm and shake it.",
+    "Take the yellow body bottle using the right arm and give it a shake.",
+    "Shake the bottle with white cap using the right arm after grabbing.",
+    "Grasp the yellow bottle with the right arm and shake it.",
+    "Shake the bottle with white cap after lifting it.",
+    "Grab the yellow bottle with green label firmly, shake it, and put it down.",
+    "Grab the yellow bottle using the right arm, then shake.",
+    "Use the right arm to grab the plastic bottle and shake it.",
+    "Catch the smooth yellow plastic bottle and shake it instantly.",
+    "Grab the plastic bottle and give it a shake.",
+    "Using the right arm, shake the handheld bottle and then place it back.",
+    "Pick the bottle for liquids up with the right arm and shake.",
+    "Grab and shake the bottle with green and white label using the right arm.",
+    "Grab the bottle with green and white label with the right arm and shake.",
+    "Shake the yellow bottle with cylindrical cap after grabbing it.",
+    "Lift up the plastic bottle using the right arm, then shake.",
+    "Hold the yellow bottle with flower design with the right arm and shake lightly.",
+    "Shake the smooth yellow plastic bottle after grabbing it.",
+    "Pick the bottle for liquids and perform shaking motion.",
+    "Shake the handheld bottle after grabbing it.",
+    "Grab the bottle for liquids carefully and shake.",
+    "Secure the rectangular bottle, shake it, and place it down.",
+    "Lift the yellow bottle with the right arm and give it a shake.",
+    "Lift the yellow bottle with flower design and shake it thoroughly.",
+    "Pick the handheld bottle, shake it with the right arm.",
+    "Lift the plastic bottle with the right arm and shake.",
+    "Shake the the yellow bottle with green label properly after lifting.",
+    "Grab the bottle for liquids and shake it steadily.",
+    "Use the right arm to lift and shake the yellow body bottle.",
+    "Grip the yellow bottle with cylindrical cap using the right arm and shake.",
+    "Grab the bottle for liquids and move it to shake.",
+    "Shake the bottle with white cap thoroughly after grabbing it.",
+    "Use the right arm to lift and shake the yellow bottle with cylindrical cap.",
+    "Secure the yellow bottle with cylindrical cap and perform a shake.",
+    "Pick up the yellow body bottle and shake it well.",
+    "Pick up the yellow bottle with green label and shake it.",
+    "Use the right arm to pick and shake the plastic bottle.",
+    "Utilize the right arm to hold the bottle for liquids and shake it.",
+    "Hold the smooth yellow plastic bottle and shake it properly.",
+    "Use the right arm to hold the bottle for liquids and shake it.",
+    "Hold the yellow bottle, shake it briefly.",
+    "Use the right arm to lift and shake the bottle with white cap."
+  ],
+  "unseen": [
+    "Use the right arm to grab the bottle with printed label and shake.",
+    "Use the right arm to pick the bottle with printed label.",
+    "Pick up the medium bottle and shake it.",
+    "Pick up the bottle with rounded edges and shake it.",
+    "Shake the medium bottle after picking it with the right arm.",
+    "Grab the bottle with printed label and shake it.",
+    "Pick up the medium bottle with the right arm and shake.",
+    "Pick and shake the the medium bottle with the right arm.",
+    "Grab the medium bottle, shake it properly, then set it down.",
+    "Grab the bottle with printed label and give it a shake.",
+    "Use the right arm to grab the bottle with printed label and shake.",
+    "Use the right arm to pick the medium bottle.",
+    "Pick up the medium bottle and shake it.",
+    "Pick up the medium bottle and shake it.",
+    "Shake the bottle with printed label after picking it with the right arm.",
+    "Grab the bottle with printed label and shake it.",
+    "Pick up the medium bottle with the right arm and shake.",
+    "Pick and shake the the medium bottle with the right arm.",
+    "Grab the bottle with rounded edges, shake it properly, then set it down.",
+    "Grab the bottle with printed label and give it a shake.",
+    "Use the right arm to grab the bottle with printed label and shake.",
+    "Use the right arm to pick the medium bottle.",
+    "Pick up the medium bottle and shake it.",
+    "Pick up the bottle with printed label and shake it.",
+    "Shake the medium bottle after picking it with the right arm.",
+    "Grab the medium bottle and shake it.",
+    "Pick up the medium bottle with the right arm and shake.",
+    "Pick and shake the the medium bottle with the right arm.",
+    "Grab the bottle with rounded edges, shake it properly, then set it down.",
+    "Grab the bottle with printed label and give it a shake.",
+    "Use the right arm to grab the medium bottle and shake.",
+    "Use the right arm to pick the bottle with printed label.",
+    "Pick up the bottle with printed label and shake it.",
+    "Pick up the bottle with rounded edges and shake it.",
+    "Shake the bottle with printed label after picking it with the right arm.",
+    "Grab the medium bottle and shake it.",
+    "Pick up the medium bottle with the right arm and shake.",
+    "Pick and shake the the bottle with rounded edges with the right arm.",
+    "Grab the bottle with printed label, shake it properly, then set it down.",
+    "Grab the medium bottle and give it a shake.",
+    "Use the right arm to grab the bottle with rounded edges and shake.",
+    "Use the right arm to pick the bottle with printed label.",
+    "Pick up the medium bottle and shake it.",
+    "Pick up the bottle with printed label and shake it.",
+    "Shake the bottle with printed label after picking it with the right arm.",
+    "Grab the bottle with printed label and shake it.",
+    "Pick up the bottle with rounded edges with the right arm and shake.",
+    "Pick and shake the the medium bottle with the right arm.",
+    "Grab the medium bottle, shake it properly, then set it down.",
+    "Grab the medium bottle and give it a shake.",
+    "Use the right arm to grab the bottle with printed label and shake.",
+    "Use the right arm to pick the bottle with printed label.",
+    "Pick up the medium bottle and shake it.",
+    "Pick up the bottle with printed label and shake it.",
+    "Shake the bottle with rounded edges after picking it with the right arm.",
+    "Grab the bottle with rounded edges and shake it.",
+    "Pick up the medium bottle with the right arm and shake.",
+    "Pick and shake the the bottle with printed label with the right arm.",
+    "Grab the bottle with printed label, shake it properly, then set it down.",
+    "Grab the bottle with rounded edges and give it a shake.",
+    "Use the right arm to grab the medium bottle and shake.",
+    "Use the right arm to pick the medium bottle.",
+    "Pick up the bottle with printed label and shake it.",
+    "Pick up the medium bottle and shake it.",
+    "Shake the bottle with rounded edges after picking it with the right arm.",
+    "Grab the bottle with rounded edges and shake it.",
+    "Pick up the bottle with printed label with the right arm and shake.",
+    "Pick and shake the the medium bottle with the right arm.",
+    "Grab the bottle with rounded edges, shake it properly, then set it down.",
+    "Grab the medium bottle and give it a shake.",
+    "Use the right arm to grab the medium bottle and shake.",
+    "Use the right arm to pick the bottle with printed label.",
+    "Pick up the medium bottle and shake it.",
+    "Pick up the bottle with printed label and shake it.",
+    "Shake the bottle with printed label after picking it with the right arm.",
+    "Grab the bottle with rounded edges and shake it.",
+    "Pick up the bottle with rounded edges with the right arm and shake.",
+    "Pick and shake the the bottle with rounded edges with the right arm.",
+    "Grab the bottle with printed label, shake it properly, then set it down.",
+    "Grab the bottle with rounded edges and give it a shake.",
+    "Use the right arm to grab the bottle with printed label and shake.",
+    "Use the right arm to pick the medium bottle.",
+    "Pick up the bottle with printed label and shake it.",
+    "Pick up the medium bottle and shake it.",
+    "Shake the bottle with rounded edges after picking it with the right arm.",
+    "Grab the bottle with printed label and shake it.",
+    "Pick up the bottle with printed label with the right arm and shake.",
+    "Pick and shake the the medium bottle with the right arm.",
+    "Grab the bottle with rounded edges, shake it properly, then set it down.",
+    "Grab the bottle with printed label and give it a shake.",
+    "Use the right arm to grab the medium bottle and shake.",
+    "Use the right arm to pick the medium bottle.",
+    "Pick up the medium bottle and shake it.",
+    "Pick up the medium bottle and shake it.",
+    "Shake the bottle with rounded edges after picking it with the right arm.",
+    "Grab the bottle with rounded edges and shake it.",
+    "Pick up the bottle with printed label with the right arm and shake.",
+    "Pick and shake the the bottle with rounded edges with the right arm.",
+    "Grab the bottle with rounded edges, shake it properly, then set it down.",
+    "Grab the bottle with rounded edges and give it a shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002242.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002242.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3ec995aba5b956f6f0bbc7ab5feb8cbfabbf22d
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002242.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the brown bottle with red label and shake it.",
+    "Hold the long thin bottle steady, then shake it.",
+    "Hold the medium dark brown bottle with the right arm and shake lightly.",
+    "Hold the red-capped bottle, shake it briefly.",
+    "Pick up the red-capped bottle and shake it well.",
+    "Shake the dark drink bottle with logo after lifting it.",
+    "Hold the medium dark brown bottle and shake it properly.",
+    "Grab the dark drink bottle with logo firmly, shake it, and put it down.",
+    "Grip the hand-sized soda bottle using the right arm and shake.",
+    "Grab the long thin bottle with the right arm and shake.",
+    "Utilize the right arm to hold the dark drink bottle with logo and shake it.",
+    "Catch the hand-sized soda bottle and shake it instantly.",
+    "Pick the bottle with ridges on bottom, shake it with the right arm.",
+    "Lift up the dark drink bottle with logo using the right arm, then shake.",
+    "Secure the red-capped bottle, shake it, and place it down.",
+    "Pick the medium dark brown bottle up using the right arm and shake it.",
+    "Grab the hand-sized soda bottle and give it a shake.",
+    "Grab and shake the brown bottle with red label using the right arm.",
+    "Use the right arm to lift and shake the medium dark brown bottle.",
+    "Grab the long thin bottle and move it to shake.",
+    "Lift the dark drink bottle with logo with the right arm and shake it.",
+    "Pick the plastic drink bottle up with the right arm and shake.",
+    "Use the right arm to grab the red-capped bottle and shake properly.",
+    "With the right arm, pick the bottle with ridges on bottom and shake properly.",
+    "Shake the medium dark brown bottle after grabbing it.",
+    "Lift the plastic drink bottle and shake it gently.",
+    "Hold and shake the the dark drink bottle with logo carefully.",
+    "Use the right arm to pick and shake the brown bottle with red label.",
+    "Use the right arm to lift and shake the bottle with white neck and red top.",
+    "Lift the smooth bottle with red lid with the right arm and shake.",
+    "Shake the long thin bottle firmly after grabbing.",
+    "Grab the long thin bottle carefully and shake.",
+    "Shake the bottle with ridges on bottom after grabbing it.",
+    "Pick the bottle with white neck and red top and perform shaking motion.",
+    "Grasp the hand-sized soda bottle with the right arm and shake it.",
+    "Use the right arm to grab the dark drink bottle with logo and shake it.",
+    "Use the right arm to lift and shake the hand-sized soda bottle.",
+    "Shake the dark drink bottle with logo after holding it firmly.",
+    "Shake the the Coca-Cola bottle properly after lifting.",
+    "Take the Coca-Cola bottle using the right arm and give it a shake.",
+    "Use the right arm to hold the red-capped bottle and shake it.",
+    "Shake the plastic drink bottle using the right arm after grabbing.",
+    "Lift the long thin bottle with the right arm and give it a shake.",
+    "Shake the narrow-necked bottle thoroughly after grabbing it.",
+    "Grab the Coca-Cola bottle using the right arm, then shake.",
+    "Lift the narrow-necked bottle and shake it thoroughly.",
+    "Secure the smooth bottle with red lid and perform a shake.",
+    "Grab the hand-sized soda bottle and shake it steadily.",
+    "Shake the brown bottle with red label after grabbing it.",
+    "Using the right arm, shake the smooth bottle with red lid and then place it back.",
+    "Pick up the red-capped bottle and shake it.",
+    "Hold the bottle with ridges on bottom steady, then shake it.",
+    "Hold the bottle with ridges on bottom with the right arm and shake lightly.",
+    "Hold the long thin bottle, shake it briefly.",
+    "Pick up the bottle with white neck and red top and shake it well.",
+    "Shake the bottle with white neck and red top after lifting it.",
+    "Hold the medium dark brown bottle and shake it properly.",
+    "Grab the Coca-Cola bottle firmly, shake it, and put it down.",
+    "Grip the brown bottle with red label using the right arm and shake.",
+    "Grab the brown bottle with red label with the right arm and shake.",
+    "Utilize the right arm to hold the bottle with white neck and red top and shake it.",
+    "Catch the Coca-Cola bottle and shake it instantly.",
+    "Pick the bottle with white neck and red top, shake it with the right arm.",
+    "Lift up the plastic drink bottle using the right arm, then shake.",
+    "Secure the smooth bottle with red lid, shake it, and place it down.",
+    "Pick the brown bottle with red label up using the right arm and shake it.",
+    "Grab the smooth bottle with red lid and give it a shake.",
+    "Grab and shake the brown bottle with red label using the right arm.",
+    "Use the right arm to lift and shake the bottle with white neck and red top.",
+    "Grab the Coca-Cola bottle and move it to shake.",
+    "Lift the Coca-Cola bottle with the right arm and shake it.",
+    "Pick the smooth bottle with red lid up with the right arm and shake.",
+    "Use the right arm to grab the Coca-Cola bottle and shake properly.",
+    "With the right arm, pick the hand-sized soda bottle and shake properly.",
+    "Shake the Coca-Cola bottle after grabbing it.",
+    "Lift the narrow-necked bottle and shake it gently.",
+    "Hold and shake the the bottle with ridges on bottom carefully.",
+    "Use the right arm to pick and shake the brown bottle with red label.",
+    "Use the right arm to lift and shake the bottle with white neck and red top.",
+    "Lift the bottle with white neck and red top with the right arm and shake.",
+    "Shake the bottle with ridges on bottom firmly after grabbing.",
+    "Grab the hand-sized soda bottle carefully and shake.",
+    "Shake the dark drink bottle with logo after grabbing it.",
+    "Pick the plastic drink bottle and perform shaking motion.",
+    "Grasp the narrow-necked bottle with the right arm and shake it.",
+    "Use the right arm to grab the brown bottle with red label and shake it.",
+    "Use the right arm to lift and shake the long thin bottle.",
+    "Shake the Coca-Cola bottle after holding it firmly.",
+    "Shake the the dark drink bottle with logo properly after lifting.",
+    "Take the medium dark brown bottle using the right arm and give it a shake.",
+    "Use the right arm to hold the medium dark brown bottle and shake it.",
+    "Shake the Coca-Cola bottle using the right arm after grabbing.",
+    "Lift the long thin bottle with the right arm and give it a shake.",
+    "Shake the medium dark brown bottle thoroughly after grabbing it.",
+    "Grab the bottle with ridges on bottom using the right arm, then shake.",
+    "Lift the long thin bottle and shake it thoroughly.",
+    "Secure the bottle with white neck and red top and perform a shake.",
+    "Grab the hand-sized soda bottle and shake it steadily.",
+    "Shake the hand-sized soda bottle after grabbing it.",
+    "Using the right arm, shake the dark drink bottle with logo and then place it back."
+  ],
+  "unseen": [
+    "Grab the bottle with red screw cap and shake it.",
+    "Shake the bottle with red screw cap after picking it with the right arm.",
+    "Use the right arm to pick the plastic soda bottle.",
+    "Pick up the plastic soda bottle with the right arm and shake.",
+    "Grab the bottle with red screw cap and give it a shake.",
+    "Pick and shake the the bottle with red screw cap with the right arm.",
+    "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, shake it properly, then set it down.",
+    "Use the right arm to grab the plastic soda bottle and shake.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Shake the bottle with red screw cap after picking it with the right arm.",
+    "Use the right arm to pick the plastic soda bottle.",
+    "Pick up the bottle with red screw cap with the right arm and shake.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick and shake the the bottle with red screw cap with the right arm.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Use the right arm to pick the bottle with red screw cap.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Grab the bottle with red screw cap and give it a shake.",
+    "Pick and shake the the bottle with red screw cap with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Grab the brown bottle and shake it.",
+    "Shake the bottle with red screw cap after picking it with the right arm.",
+    "Use the right arm to pick the bottle with red screw cap.",
+    "Pick up the bottle with red screw cap with the right arm and shake.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Use the right arm to grab the plastic soda bottle and shake.",
+    "Grab the plastic soda bottle and shake it.",
+    "Shake the bottle with red screw cap after picking it with the right arm.",
+    "Use the right arm to pick the brown bottle.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Pick and shake the the plastic soda bottle with the right arm.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with red screw cap and shake.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Shake the bottle with red screw cap after picking it with the right arm.",
+    "Use the right arm to pick the bottle with red screw cap.",
+    "Pick up the bottle with red screw cap with the right arm and shake.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Pick and shake the the bottle with red screw cap with the right arm.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the plastic soda bottle and shake.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Shake the plastic soda bottle after picking it with the right arm.",
+    "Use the right arm to pick the brown bottle.",
+    "Pick up the bottle with red screw cap with the right arm and shake.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick and shake the the bottle with red screw cap with the right arm.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the plastic soda bottle and shake.",
+    "Grab the brown bottle and shake it.",
+    "Shake the plastic soda bottle after picking it with the right arm.",
+    "Use the right arm to pick the bottle with red screw cap.",
+    "Pick up the plastic soda bottle with the right arm and shake.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Grab the brown bottle and shake it.",
+    "Shake the bottle with red screw cap after picking it with the right arm.",
+    "Use the right arm to pick the bottle with red screw cap.",
+    "Pick up the bottle with red screw cap with the right arm and shake.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Pick and shake the the bottle with red screw cap with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Grab the brown bottle and shake it.",
+    "Shake the plastic soda bottle after picking it with the right arm.",
+    "Use the right arm to pick the bottle with red screw cap.",
+    "Pick up the plastic soda bottle with the right arm and shake.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick and shake the the plastic soda bottle with the right arm.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the brown bottle and shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002296.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002296.json
new file mode 100644
index 0000000000000000000000000000000000000000..c46cb7d4ce3a3fd52dc298e9e374e4707c0d2188
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002296.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to lift and shake the rectangular-shaped bottle with round cap.",
+    "Shake the medium-sized brown plastic bottle after grabbing it.",
+    "Grip the brown bottle with rounded rectangular shape using the right arm and shake.",
+    "Grab the rectangular brown body with white top and give it a shake.",
+    "Hold the brown bottle with rounded rectangular shape and shake it properly.",
+    "Lift the bottle with green cap with the right arm and shake.",
+    "Shake the brown bottle with rounded rectangular shape after grabbing it.",
+    "Grab the rectangular brown body with white top using the right arm, then shake.",
+    "Use the right arm to lift and shake the bottle with flat sides and logo.",
+    "Grab the bottle with flat sides and logo firmly, shake it, and put it down.",
+    "Grab the rectangular-shaped bottle with round cap and move it to shake.",
+    "Hold the brown bottle steady, then shake it.",
+    "Utilize the right arm to hold the rectangular brown body with white top and shake it.",
+    "Shake the medium-sized brown plastic bottle after grabbing it.",
+    "Hold the rectangular brown body with white top, shake it briefly.",
+    "Shake the dark brown bottle with a squared body after holding it firmly.",
+    "Shake the brown bottle firmly after grabbing.",
+    "Use the right arm to hold the rectangular brown body with white top and shake it.",
+    "Shake the bottle with flat sides and logo using the right arm after grabbing.",
+    "Use the right arm to pick and shake the smooth plastic bottle with white cap.",
+    "Take the plastic bottle using the right arm and give it a shake.",
+    "Lift up the dark brown bottle with a squared body using the right arm, then shake.",
+    "Hold the smooth brown bottle with green label with the right arm and shake lightly.",
+    "Pick the brown bottle up with the right arm and shake.",
+    "Pick the brown bottle up using the right arm and shake it.",
+    "Pick up the smooth brown bottle with green label and shake it.",
+    "Using the right arm, shake the brown bottle and then place it back.",
+    "With the right arm, pick the brown bottle and shake properly.",
+    "Use the right arm to lift and shake the medium-sized brown plastic bottle.",
+    "Shake the dark brown bottle with a squared body after lifting it.",
+    "Pick the medium bottle with glossy surface, shake it with the right arm.",
+    "Grab the dark brown bottle with a squared body and shake it steadily.",
+    "Grab and shake the brown bottle with rounded rectangular shape using the right arm.",
+    "Grasp the dark brown bottle with a squared body with the right arm and shake it.",
+    "Secure the medium bottle with glossy surface and perform a shake.",
+    "Hold and shake the the rectangular brown body with white top carefully.",
+    "Lift the bottle with flat sides and logo with the right arm and shake it.",
+    "Lift the rectangular-shaped bottle with round cap and shake it thoroughly.",
+    "Catch the smooth brown bottle with green label and shake it instantly.",
+    "Use the right arm to grab the medium-sized brown plastic bottle and shake properly.",
+    "Grab the medium bottle with glossy surface with the right arm and shake.",
+    "Pick the medium-sized brown plastic bottle and perform shaking motion.",
+    "Shake the the brown bottle with rounded rectangular shape properly after lifting.",
+    "Lift the smooth plastic bottle with white cap with the right arm and give it a shake.",
+    "Shake the brown bottle with rounded rectangular shape thoroughly after grabbing it.",
+    "Lift the bottle with flat sides and logo and shake it gently.",
+    "Use the right arm to grab the plastic bottle and shake it.",
+    "Grab the rectangular brown body with white top carefully and shake.",
+    "Pick up the medium bottle with glossy surface and shake it well.",
+    "Secure the smooth plastic bottle with white cap, shake it, and place it down.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Shake the rectangular brown body with white top after grabbing it.",
+    "Grip the smooth brown bottle with green label using the right arm and shake.",
+    "Grab the smooth brown bottle with green label and give it a shake.",
+    "Hold the medium-sized brown plastic bottle and shake it properly.",
+    "Lift the medium bottle with glossy surface with the right arm and shake.",
+    "Shake the smooth plastic bottle with white cap after grabbing it.",
+    "Grab the bottle with flat sides and logo using the right arm, then shake.",
+    "Use the right arm to lift and shake the medium-sized brown plastic bottle.",
+    "Grab the medium bottle with glossy surface firmly, shake it, and put it down.",
+    "Grab the bottle with green cap and move it to shake.",
+    "Hold the brown bottle with rounded rectangular shape steady, then shake it.",
+    "Utilize the right arm to hold the brown bottle and shake it.",
+    "Shake the plastic bottle after grabbing it.",
+    "Hold the plastic bottle, shake it briefly.",
+    "Shake the rectangular brown body with white top after holding it firmly.",
+    "Shake the medium bottle with glossy surface firmly after grabbing.",
+    "Use the right arm to hold the bottle with green cap and shake it.",
+    "Shake the brown bottle with rounded rectangular shape using the right arm after grabbing.",
+    "Use the right arm to pick and shake the brown bottle.",
+    "Take the brown bottle with rounded rectangular shape using the right arm and give it a shake.",
+    "Lift up the plastic bottle using the right arm, then shake.",
+    "Hold the dark brown bottle with a squared body with the right arm and shake lightly.",
+    "Pick the bottle with green cap up with the right arm and shake.",
+    "Pick the bottle with green cap up using the right arm and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Using the right arm, shake the medium bottle with glossy surface and then place it back.",
+    "With the right arm, pick the rectangular brown body with white top and shake properly.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Shake the smooth brown bottle with green label after lifting it.",
+    "Pick the smooth plastic bottle with white cap, shake it with the right arm.",
+    "Grab the smooth plastic bottle with white cap and shake it steadily.",
+    "Grab and shake the plastic bottle using the right arm.",
+    "Grasp the plastic bottle with the right arm and shake it.",
+    "Secure the brown bottle with rounded rectangular shape and perform a shake.",
+    "Hold and shake the the bottle with flat sides and logo carefully.",
+    "Lift the brown bottle with rounded rectangular shape with the right arm and shake it.",
+    "Lift the bottle with flat sides and logo and shake it thoroughly.",
+    "Catch the rectangular brown body with white top and shake it instantly.",
+    "Use the right arm to grab the bottle with green cap and shake properly.",
+    "Grab the brown bottle with rounded rectangular shape with the right arm and shake.",
+    "Pick the bottle with flat sides and logo and perform shaking motion.",
+    "Shake the the smooth brown bottle with green label properly after lifting.",
+    "Lift the bottle with flat sides and logo with the right arm and give it a shake.",
+    "Shake the brown bottle with rounded rectangular shape thoroughly after grabbing it.",
+    "Lift the bottle with flat sides and logo and shake it gently.",
+    "Use the right arm to grab the dark brown bottle with a squared body and shake it.",
+    "Grab the medium-sized brown plastic bottle carefully and shake.",
+    "Pick up the brown bottle and shake it well.",
+    "Secure the brown bottle with rounded rectangular shape, shake it, and place it down."
+  ],
+  "unseen": [
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Use the right arm to grab the liquid container dark brown plastic and shake.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Use the right arm to pick the liquid container dark brown plastic.",
+    "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.",
+    "Shake the liquid container dark brown plastic after picking it with the right arm.",
+    "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.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Use the right arm to grab the bottle with green label and white lid and shake.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Use the right arm to pick the bottle with green label and white lid.",
+    "Pick up the liquid container dark brown plastic with the right arm and shake.",
+    "Pick and shake the the bottle with green label and white lid with the right arm.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.",
+    "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.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Use the right arm to grab the liquid container dark brown plastic and shake.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Use the right arm to pick the bottle with green label and white lid.",
+    "Pick up the liquid container dark brown plastic with the right arm and shake.",
+    "Pick and shake the the liquid container dark brown plastic with the right arm.",
+    "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 and give it a shake.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Use the right arm to grab the liquid container dark brown plastic and shake.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Use the right arm to pick the bottle with green label and white lid.",
+    "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.",
+    "Pick and shake the the liquid container dark brown plastic with the right arm.",
+    "Shake the liquid container dark brown plastic after picking it with the right arm.",
+    "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.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Use the right arm to grab the liquid container dark brown plastic and shake.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Use the right arm to pick the liquid container dark brown plastic.",
+    "Pick up the liquid container dark brown plastic with the right arm and shake.",
+    "Pick and shake the the bottle with green label and white lid with the right arm.",
+    "Shake the liquid container dark brown plastic after picking it with the right arm.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Use the right 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.",
+    "Use the right arm to pick the medium-sized plastic bottle with capped top.",
+    "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.",
+    "Pick and shake the the bottle with green label and white lid with the right arm.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.",
+    "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.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Use the right arm to grab the liquid container dark brown plastic and shake.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Use the right arm to pick the liquid container dark brown plastic.",
+    "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.",
+    "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.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Use the right 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.",
+    "Use the right arm to pick the medium-sized plastic bottle with capped top.",
+    "Pick up the liquid container dark brown plastic with the right arm and shake.",
+    "Pick and shake the the liquid container dark brown plastic with the right arm.",
+    "Shake the liquid container dark brown plastic after picking it with the right arm.",
+    "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.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Use the right arm to grab the liquid container dark brown plastic and shake.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Use the right arm to pick the liquid container dark brown plastic.",
+    "Pick up the bottle with green label and white lid with the right arm and shake.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.",
+    "Shake the liquid container dark brown plastic after picking it with the right arm.",
+    "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.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Use the right arm to grab the liquid container dark brown plastic and shake.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Use the right arm to pick the bottle with green label and white lid.",
+    "Pick up the bottle with green label and white lid with the right arm and shake.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.",
+    "Grab the liquid container dark brown plastic and give it a shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002315.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002315.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f6aac238f944cb157b2b79ea746372e6e1c1e73
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002315.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the rectangular-shaped bottle with round cap and give it a shake.",
+    "Utilize the right arm to hold the bottle with green cap and shake it.",
+    "Pick the bottle with flat sides and logo up using the right arm and shake it.",
+    "Use the right arm to grab the smooth plastic bottle with white cap and shake properly.",
+    "Shake the medium bottle with glossy surface firmly after grabbing.",
+    "Pick the smooth plastic bottle with white cap up with the right arm and shake.",
+    "Lift the plastic bottle with the right arm and shake.",
+    "Pick the rectangular brown body with white top, shake it with the right arm.",
+    "Use the right arm to lift and shake the bottle with green cap.",
+    "Using the right arm, shake the rectangular brown body with white top and then place it back.",
+    "Lift up the brown bottle with rounded rectangular shape using the right arm, then shake.",
+    "Hold and shake the the brown bottle carefully.",
+    "Lift the medium-sized brown plastic bottle and shake it gently.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Take the bottle with green cap using the right arm and give it a shake.",
+    "Pick the medium-sized brown plastic bottle and perform shaking motion.",
+    "Shake the brown bottle with rounded rectangular shape after grabbing it.",
+    "Grip the brown bottle with rounded rectangular shape using the right arm and shake.",
+    "Hold the bottle with flat sides and logo and shake it properly.",
+    "Shake the the bottle with green cap properly after lifting.",
+    "Catch the brown bottle with rounded rectangular shape and shake it instantly.",
+    "Grab the bottle with green cap and shake it steadily.",
+    "Secure the plastic bottle and perform a shake.",
+    "Grab the medium bottle with glossy surface with the right arm and shake.",
+    "With the right arm, pick the bottle with green cap and shake properly.",
+    "Grab the brown bottle firmly, shake it, and put it down.",
+    "Shake the rectangular brown body with white top after holding it firmly.",
+    "Lift the plastic bottle with the right arm and give it a shake.",
+    "Shake the medium-sized brown plastic bottle after lifting it.",
+    "Lift the rectangular brown body with white top with the right arm and shake it.",
+    "Grab the smooth plastic bottle with white cap carefully and shake.",
+    "Use the right arm to lift and shake the bottle with flat sides and logo.",
+    "Use the right arm to grab the smooth brown bottle with green label and shake it.",
+    "Grab the medium bottle with glossy surface using the right arm, then shake.",
+    "Shake the dark brown bottle with a squared body after grabbing it.",
+    "Grasp the smooth brown bottle with green label with the right arm and shake it.",
+    "Use the right arm to pick and shake the smooth plastic bottle with white cap.",
+    "Secure the dark brown bottle with a squared body, shake it, and place it down.",
+    "Pick up the brown bottle with rounded rectangular shape and shake it well.",
+    "Lift the rectangular brown body with white top and shake it thoroughly.",
+    "Shake the bottle with flat sides and logo after grabbing it.",
+    "Hold the medium bottle with glossy surface with the right arm and shake lightly.",
+    "Hold the brown bottle, shake it briefly.",
+    "Pick up the brown bottle and shake it.",
+    "Hold the medium bottle with glossy surface steady, then shake it.",
+    "Use the right arm to hold the bottle with green cap and shake it.",
+    "Shake the bottle with flat sides and logo thoroughly after grabbing it.",
+    "Grab the brown bottle and move it to shake.",
+    "Shake the brown bottle with rounded rectangular shape using the right arm after grabbing.",
+    "Grab and shake the brown bottle with rounded rectangular shape using the right arm.",
+    "Grab the smooth brown bottle with green label and give it a shake.",
+    "Utilize the right arm to hold the brown bottle with rounded rectangular shape and shake it.",
+    "Pick the bottle with flat sides and logo up using the right arm and shake it.",
+    "Use the right arm to grab the brown bottle with rounded rectangular shape and shake properly.",
+    "Shake the brown bottle with rounded rectangular shape firmly after grabbing.",
+    "Pick the dark brown bottle with a squared body up with the right arm and shake.",
+    "Lift the smooth brown bottle with green label with the right arm and shake.",
+    "Pick the brown bottle with rounded rectangular shape, shake it with the right arm.",
+    "Use the right arm to lift and shake the smooth brown bottle with green label.",
+    "Using the right arm, shake the bottle with flat sides and logo and then place it back.",
+    "Lift up the rectangular brown body with white top using the right arm, then shake.",
+    "Hold and shake the the dark brown bottle with a squared body carefully.",
+    "Lift the smooth brown bottle with green label and shake it gently.",
+    "Use the right arm to lift and shake the smooth brown bottle with green label.",
+    "Take the brown bottle with rounded rectangular shape using the right arm and give it a shake.",
+    "Pick the rectangular-shaped bottle with round cap and perform shaking motion.",
+    "Shake the rectangular brown body with white top after grabbing it.",
+    "Grip the medium-sized brown plastic bottle using the right arm and shake.",
+    "Hold the rectangular brown body with white top and shake it properly.",
+    "Shake the the bottle with flat sides and logo properly after lifting.",
+    "Catch the brown bottle with rounded rectangular shape and shake it instantly.",
+    "Grab the brown bottle and shake it steadily.",
+    "Secure the smooth plastic bottle with white cap and perform a shake.",
+    "Grab the rectangular brown body with white top with the right arm and shake.",
+    "With the right arm, pick the bottle with green cap and shake properly.",
+    "Grab the brown bottle with rounded rectangular shape firmly, shake it, and put it down.",
+    "Shake the plastic bottle after holding it firmly.",
+    "Lift the brown bottle with rounded rectangular shape with the right arm and give it a shake.",
+    "Shake the rectangular-shaped bottle with round cap after lifting it.",
+    "Lift the rectangular-shaped bottle with round cap with the right arm and shake it.",
+    "Grab the bottle with green cap carefully and shake.",
+    "Use the right arm to lift and shake the dark brown bottle with a squared body.",
+    "Use the right arm to grab the medium-sized brown plastic bottle and shake it.",
+    "Grab the plastic bottle using the right arm, then shake.",
+    "Shake the brown bottle after grabbing it.",
+    "Grasp the rectangular brown body with white top with the right arm and shake it.",
+    "Use the right arm to pick and shake the bottle with flat sides and logo.",
+    "Secure the brown bottle, shake it, and place it down.",
+    "Pick up the brown bottle with rounded rectangular shape and shake it well.",
+    "Lift the bottle with flat sides and logo and shake it thoroughly.",
+    "Shake the bottle with green cap after grabbing it.",
+    "Hold the smooth brown bottle with green label with the right arm and shake lightly.",
+    "Hold the smooth brown bottle with green label, shake it briefly.",
+    "Pick up the rectangular-shaped bottle with round cap and shake it.",
+    "Hold the bottle with flat sides and logo steady, then shake it.",
+    "Use the right arm to hold the bottle with green cap and shake it.",
+    "Shake the bottle with flat sides and logo thoroughly after grabbing it.",
+    "Grab the plastic bottle and move it to shake.",
+    "Shake the rectangular-shaped bottle with round cap using the right arm after grabbing.",
+    "Grab and shake the medium-sized brown plastic bottle using the right arm."
+  ],
+  "unseen": [
+    "Pick up the liquid container dark brown plastic with the right arm and shake.",
+    "Shake the bottle with green label and white lid after picking it with the right arm.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Use the right arm to pick the medium-sized plastic bottle with capped top.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Pick up the bottle with green label and white lid with the right arm and shake.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Use the right arm to grab the bottle with green label and white lid and shake.",
+    "Use the right arm to pick the medium-sized plastic bottle with capped top.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Pick and shake the the bottle with green label and white lid with the right arm.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the liquid container dark brown plastic with the right arm and shake.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Use the right arm to pick the bottle with green label and white lid.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "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 right arm and shake.",
+    "Shake the bottle with green label and white lid after picking it with the right arm.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Use the right arm to pick the bottle with green label and white lid.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Pick and shake the the bottle with green label and white lid with the right arm.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "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 right arm and shake.",
+    "Shake the liquid container dark brown plastic after picking it with the right arm.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Use the right arm to grab the bottle with green label and white lid and shake.",
+    "Use the right arm to pick the liquid container dark brown plastic.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Pick and shake the the bottle with green label and white lid with the right arm.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "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 right arm and shake.",
+    "Shake the bottle with green label and white lid after picking it with the right arm.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Use the right arm to grab the liquid container dark brown plastic and shake.",
+    "Use the right arm to pick the liquid container dark brown plastic.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Grab the medium-sized plastic bottle with capped top and give it a shake.",
+    "Pick and shake the the bottle with green label and white lid with the right arm.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the liquid container dark brown plastic with the right arm and shake.",
+    "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 and shake it.",
+    "Use the right arm to grab the bottle with green label and white lid and shake.",
+    "Use the right arm to pick the bottle with green label and white lid.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Grab the medium-sized plastic bottle with capped top and give it a shake.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "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 right arm and shake.",
+    "Shake the liquid container dark brown plastic after picking it with the right arm.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Use the right arm to pick the bottle with green label and white lid.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Grab the bottle with green label and white lid and give it a shake.",
+    "Pick and shake the the bottle with green label and white lid with the right arm.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Pick up 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.",
+    "Shake the liquid container dark brown plastic after picking it with the right arm.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Use the right arm to pick the liquid container dark brown plastic.",
+    "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.",
+    "Grab the bottle with green label and white lid and give it a shake.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the liquid container dark brown plastic with the right arm and shake.",
+    "Shake the liquid container dark brown plastic after picking it with the right arm.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Use the right arm to grab the bottle with green label and white lid and shake.",
+    "Use the right arm to pick the bottle with green label and white lid.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Grab the bottle with green label and white lid and give it a shake.",
+    "Pick and shake the the bottle with green label and white lid with the right arm.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002338.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002338.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f4b9ee9f04421e09846fadb313ce9fde9d8b8c5
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002338.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to grab the black bottle and shake it.",
+    "Hold the black cylindrical bottle with ridges and shake it properly.",
+    "Pick up the smooth black bottle with ridges and shake it.",
+    "Shake the drink bottle with rounded yellow lid after holding it firmly.",
+    "Use the right arm to pick and shake the bottle with blue and yellow print.",
+    "Grab the plastic bottle with colorful label using the right arm, then shake.",
+    "Grab the black bottle firmly, shake it, and put it down.",
+    "Utilize the right arm to hold the medium bottle with yellow cap and shake it.",
+    "Lift the black cylindrical bottle with ridges and shake it gently.",
+    "Shake the plastic bottle with colorful label after lifting it.",
+    "Use the right arm to lift and shake the medium bottle with yellow cap.",
+    "Use the right arm to grab the black plastic bottle with Pepsi logo and shake properly.",
+    "Shake the the medium bottle with yellow cap properly after lifting.",
+    "Secure the medium black bottle with printed label and perform a shake.",
+    "Secure the bottle with blue and yellow print, shake it, and place it down.",
+    "Grab the yellow capped drink bottle and move it to shake.",
+    "Catch the black cylindrical bottle with ridges and shake it instantly.",
+    "Hold the yellow capped drink bottle steady, then shake it.",
+    "Grab the yellow-capped cylindrical bottle with the right arm and shake.",
+    "Use the right arm to lift and shake the bottle with blue and yellow print.",
+    "Pick the beverage bottle with black body, shake it with the right arm.",
+    "Grab the black plastic bottle with Pepsi logo and give it a shake.",
+    "Hold the beverage bottle with black body, shake it briefly.",
+    "Lift the medium bottle with yellow cap with the right arm and give it a shake.",
+    "Lift the black bottle with the right arm and shake.",
+    "Lift the black bottle and shake it thoroughly.",
+    "Using the right arm, shake the black plastic bottle with Pepsi logo and then place it back.",
+    "Grab the beverage bottle with black body carefully and shake.",
+    "Hold the drink bottle with rounded yellow lid with the right arm and shake lightly.",
+    "Use the right arm to lift and shake the smooth black bottle with ridges.",
+    "Pick the beverage bottle with black body and perform shaking motion.",
+    "Grip the yellow capped drink bottle using the right arm and shake.",
+    "Shake the black cylindrical bottle with ridges thoroughly after grabbing it.",
+    "Hold and shake the the black plastic bottle with Pepsi logo carefully.",
+    "Pick up the yellow capped drink bottle and shake it well.",
+    "Shake the plastic bottle with colorful label firmly after grabbing.",
+    "With the right arm, pick the drink bottle with rounded yellow lid and shake properly.",
+    "Use the right arm to hold the drink bottle with rounded yellow lid and shake it.",
+    "Shake the yellow capped drink bottle using the right arm after grabbing.",
+    "Shake the medium bottle with yellow cap after grabbing it.",
+    "Grab the plastic bottle with colorful label and shake it steadily.",
+    "Grasp the medium bottle with yellow cap with the right arm and shake it.",
+    "Shake the plastic bottle with colorful label after grabbing it.",
+    "Pick the beverage bottle with black body up with the right arm and shake.",
+    "Shake the yellow capped drink bottle after grabbing it.",
+    "Lift the black bottle with the right arm and shake it.",
+    "Lift up the medium black bottle with printed label using the right arm, then shake.",
+    "Grab and shake the bottle with blue and yellow print using the right arm.",
+    "Pick the medium black bottle with printed label up using 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 grab the yellow-capped cylindrical bottle and shake it.",
+    "Hold the yellow-capped cylindrical bottle and shake it properly.",
+    "Pick up the drink bottle with rounded yellow lid and shake it.",
+    "Shake the beverage bottle with black body after holding it firmly.",
+    "Use the right arm to pick and shake the yellow capped drink bottle.",
+    "Grab the drink bottle with rounded yellow lid using the right arm, then shake.",
+    "Grab the bottle with blue and yellow print firmly, shake it, and put it down.",
+    "Utilize the right arm to hold the medium black bottle with printed label and shake it.",
+    "Lift the yellow-capped cylindrical bottle and shake it gently.",
+    "Shake the yellow capped drink bottle after lifting it.",
+    "Use the right arm to lift and shake the beverage bottle with black body.",
+    "Use the right arm to grab the drink bottle with rounded yellow lid and shake properly.",
+    "Shake the the drink bottle with rounded yellow lid properly after lifting.",
+    "Secure the yellow capped drink bottle and perform a shake.",
+    "Secure the yellow capped drink bottle, shake it, and place it down.",
+    "Grab the smooth black bottle with ridges and move it to shake.",
+    "Catch the medium black bottle with printed label and shake it instantly.",
+    "Hold the yellow capped drink bottle steady, then shake it.",
+    "Grab the beverage bottle with black body with the right arm and shake.",
+    "Use the right arm to lift and shake the black cylindrical bottle with ridges.",
+    "Pick the bottle with blue and yellow print, shake it with the right arm.",
+    "Grab the smooth black bottle with ridges and give it a shake.",
+    "Hold the black bottle, shake it briefly.",
+    "Lift the yellow-capped cylindrical bottle with the right arm and give it a shake.",
+    "Lift the bottle with blue and yellow print with the right arm and shake.",
+    "Lift the smooth black bottle with ridges and shake it thoroughly.",
+    "Using the right arm, shake the smooth black bottle with ridges and then place it back.",
+    "Grab the medium bottle with yellow cap carefully and shake.",
+    "Hold the black plastic bottle with Pepsi logo with the right arm and shake lightly.",
+    "Use the right arm to lift and shake the smooth black bottle with ridges.",
+    "Pick the black plastic bottle with Pepsi logo and perform shaking motion.",
+    "Grip the smooth black bottle with ridges using the right arm and shake.",
+    "Shake the yellow capped drink bottle thoroughly after grabbing it.",
+    "Hold and shake the the medium bottle with yellow cap carefully.",
+    "Pick up the plastic bottle with colorful label and shake it well.",
+    "Shake the medium black bottle with printed label firmly after grabbing.",
+    "With the right arm, pick the medium black bottle with printed label and shake properly.",
+    "Use the right arm to hold the medium bottle with yellow cap and shake it.",
+    "Shake the yellow-capped cylindrical bottle using the right arm after grabbing.",
+    "Shake the medium black bottle with printed label after grabbing it.",
+    "Grab the black plastic bottle with Pepsi logo and shake it steadily.",
+    "Grasp the bottle with blue and yellow print with the right arm and shake it.",
+    "Shake the black cylindrical bottle with ridges after grabbing it.",
+    "Pick the medium bottle with yellow cap up with the right arm and shake.",
+    "Shake the medium bottle with yellow cap after grabbing it.",
+    "Lift the black bottle with the right arm and shake it.",
+    "Lift up the medium bottle with yellow cap using the right arm, then shake.",
+    "Grab and shake the smooth black bottle with ridges using the right arm.",
+    "Pick the medium bottle with yellow cap up using the right arm and shake it.",
+    "Take the smooth black bottle with ridges using the right arm and give it a shake."
+  ],
+  "unseen": [
+    "Pick up the bottle with ridges near base and shake it.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.",
+    "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.",
+    "Use the right arm to grab the plastic bottle with blue label and shake.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the right arm to pick the plastic bottle with blue label.",
+    "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.",
+    "Shake the plastic bottle with blue label after picking it with the right arm.",
+    "Pick up the bottle with ridges near base with the right arm and shake.",
+    "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 and shake the the hand-sized bottle with ridged bottom with the right arm.",
+    "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 up the plastic bottle with blue label and shake it.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Shake the plastic bottle with blue label after picking it with the right arm.",
+    "Pick up the bottle with ridges near base with the right arm and shake.",
+    "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 and shake the the bottle with ridges near base with the right arm.",
+    "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 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.",
+    "Shake the plastic bottle with blue label after picking it with the right arm.",
+    "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.",
+    "Use the right arm to grab the plastic bottle with blue label and shake.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "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.",
+    "Use the right arm to pick the bottle with ridges near base.",
+    "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.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.",
+    "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.",
+    "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 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.",
+    "Use the right arm to pick the plastic bottle with blue label.",
+    "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.",
+    "Shake the plastic bottle with blue label after picking it with the right arm.",
+    "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.",
+    "Use the right arm to grab the plastic bottle with blue label and shake.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "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.",
+    "Use the right arm to pick the bottle with ridges near base.",
+    "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.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.",
+    "Pick up the plastic bottle with blue label with the right arm and shake.",
+    "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 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.",
+    "Use the right arm to pick the hand-sized bottle with ridged bottom.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Shake the plastic bottle with blue label after picking it with the right arm.",
+    "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.",
+    "Use the right arm to grab the plastic bottle with blue label and shake.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "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.",
+    "Use the right arm to pick the plastic bottle with blue label.",
+    "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.",
+    "Shake the bottle with ridges near base after picking it with the right arm.",
+    "Pick up the bottle with ridges near base with the right arm and shake.",
+    "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 hand-sized bottle with ridged bottom and give it a shake.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.",
+    "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 up the bottle with ridges near base and shake it.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.",
+    "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.",
+    "Grab the hand-sized bottle with ridged bottom 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 and shake the the bottle with ridges near base with the right arm.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the right arm to pick the bottle with ridges near base."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003015.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003015.json
new file mode 100644
index 0000000000000000000000000000000000000000..ece983a660b03ddb80189babae67d2913cf73180
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003015.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the smooth plastic bottle and shake properly.",
+    "Shake the bottle with orange cap firmly after grabbing.",
+    "Catch the medium bottle with orange lid and shake it instantly.",
+    "Grab the cylindrical orange and white bottle firmly, shake it, and put it down.",
+    "Pick the yellow label bottle up using the left arm and shake it.",
+    "Hold the plastic bottle with the left arm and shake lightly.",
+    "Take the orange and white bottle with cap using the left arm and give it a shake.",
+    "Shake the the medium orange bottle properly after lifting.",
+    "Grasp the drinking bottle with yellow label with the left arm and shake it.",
+    "Utilize the left arm to hold the plastic bottle and shake it.",
+    "Pick the cylindrical orange and white bottle, shake it with the left arm.",
+    "Hold the orange bottle steady, then shake it.",
+    "Grab the drinking bottle with yellow label and give it a shake.",
+    "Shake the white and orange plastic bottle thoroughly after grabbing it.",
+    "Shake the orange and white bottle with cap after lifting it.",
+    "Pick up the yellow label bottle and shake it.",
+    "Use the left arm to pick and shake the bottle with ribbed orange bottom.",
+    "Shake the yellow label bottle after grabbing it.",
+    "Shake the yellow label bottle after holding it firmly.",
+    "Lift the yellow label bottle with the left arm and give it a shake.",
+    "Using the left arm, shake the plastic bottle and then place it back.",
+    "Grab the white and orange plastic bottle with the left arm and shake.",
+    "Hold and shake the the medium bottle with orange lid carefully.",
+    "Use the left arm to lift and shake the bottle with orange cap.",
+    "Grab the yellow label bottle carefully and shake.",
+    "Use the left arm to lift and shake the cylindrical orange and white bottle.",
+    "Use the left arm to grab the medium orange bottle and shake it.",
+    "Lift the orange bottle and shake it gently.",
+    "Grab the plastic bottle and move it to shake.",
+    "Secure the yellow label bottle and perform a shake.",
+    "Grab and shake the orange and white bottle with cap using the left arm.",
+    "Pick up the smooth plastic bottle and shake it well.",
+    "Hold the cylindrical orange and white bottle, shake it briefly.",
+    "Pick the orange and white bottle with cap and perform shaking motion.",
+    "Hold the smooth plastic bottle and shake it properly.",
+    "Shake the plastic bottle using the left arm after grabbing.",
+    "Lift the orange bottle with the left arm and shake it.",
+    "Shake the white and orange plastic bottle after grabbing it.",
+    "Shake the orange bottle after grabbing it.",
+    "Pick the plastic bottle up with the left arm and shake.",
+    "Lift the yellow label bottle and shake it thoroughly.",
+    "Use the left arm to hold the medium bottle with orange lid and shake it.",
+    "Use the left arm to lift and shake the cylindrical orange and white bottle.",
+    "Grab the medium bottle with orange lid and shake it steadily.",
+    "Grip the plastic bottle using the left arm and shake.",
+    "Lift up the orange and white bottle with cap using the left arm, then shake.",
+    "Grab the medium bottle with orange lid using the left arm, then shake.",
+    "With the left arm, pick the white and orange plastic bottle and shake properly.",
+    "Lift the orange bottle with the left arm and shake.",
+    "Secure the plastic bottle, shake it, and place it down.",
+    "Use the left arm to grab the medium orange bottle and shake properly.",
+    "Shake the bottle with ribbed orange bottom firmly after grabbing.",
+    "Catch the smooth plastic bottle and shake it instantly.",
+    "Grab the orange bottle firmly, shake it, and put it down.",
+    "Pick the white and orange plastic bottle up using the left arm and shake it.",
+    "Hold the white and orange plastic bottle with the left arm and shake lightly.",
+    "Take the yellow label bottle using the left arm and give it a shake.",
+    "Shake the the bottle with ribbed orange bottom properly after lifting.",
+    "Grasp the bottle with orange cap with the left arm and shake it.",
+    "Utilize the left arm to hold the plastic bottle and shake it.",
+    "Pick the orange bottle, shake it with the left arm.",
+    "Hold the yellow label bottle steady, then shake it.",
+    "Grab the medium orange bottle and give it a shake.",
+    "Shake the orange bottle thoroughly after grabbing it.",
+    "Shake the bottle with orange cap after lifting it.",
+    "Pick up the yellow label bottle and shake it.",
+    "Use the left arm to pick and shake the yellow label bottle.",
+    "Shake the medium bottle with orange lid after grabbing it.",
+    "Shake the bottle with ribbed orange bottom after holding it firmly.",
+    "Lift the white and orange plastic bottle with the left arm and give it a shake.",
+    "Using the left arm, shake the plastic bottle and then place it back.",
+    "Grab the orange bottle with the left arm and shake.",
+    "Hold and shake the the medium orange bottle carefully.",
+    "Use the left arm to lift and shake the drinking bottle with yellow label.",
+    "Grab the smooth plastic bottle carefully and shake.",
+    "Use the left arm to lift and shake the yellow label bottle.",
+    "Use the left arm to grab the bottle with orange cap and shake it.",
+    "Lift the cylindrical orange and white bottle and shake it gently.",
+    "Grab the drinking bottle with yellow label and move it to shake.",
+    "Secure the orange bottle and perform a shake.",
+    "Grab and shake the bottle with orange cap using the left arm.",
+    "Pick up the bottle with orange cap and shake it well.",
+    "Hold the medium orange bottle, shake it briefly.",
+    "Pick the medium orange bottle and perform shaking motion.",
+    "Hold the orange bottle and shake it properly.",
+    "Shake the cylindrical orange and white bottle using the left arm after grabbing.",
+    "Lift the cylindrical orange and white bottle with the left arm and shake it.",
+    "Shake the drinking bottle with yellow label after grabbing it.",
+    "Shake the cylindrical orange and white bottle after grabbing it.",
+    "Pick the medium orange bottle up with the left arm and shake.",
+    "Lift the cylindrical orange and white bottle and shake it thoroughly.",
+    "Use the left arm to hold the bottle with ribbed orange bottom and shake it.",
+    "Use the left arm to lift and shake the bottle with orange cap.",
+    "Grab the white and orange plastic bottle and shake it steadily.",
+    "Grip the drinking bottle with yellow label using the left arm and shake.",
+    "Lift up the cylindrical orange and white bottle using the left arm, then shake.",
+    "Grab the drinking bottle with yellow label using the left arm, then shake.",
+    "With the left arm, pick the white and orange plastic bottle and shake properly.",
+    "Lift the medium bottle with orange lid with the left arm and shake.",
+    "Secure the bottle with orange cap, shake it, and place it down."
+  ],
+  "unseen": [
+    "Use the left arm to pick the bottle with curved body.",
+    "Use the left arm to grab the bottle with yellow sticker label and shake.",
+    "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.",
+    "Pick and shake the the bottle with yellow sticker label with the left arm.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Shake the bottle with curved body after picking it 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 shake it.",
+    "Use the left arm to pick the curvy orange bottle with white section.",
+    "Use the left arm to grab the bottle with yellow sticker label and shake.",
+    "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.",
+    "Pick and shake the the bottle with yellow sticker label with the left arm.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Shake the bottle with yellow sticker label after picking it 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 curvy orange bottle with white section and shake it.",
+    "Use the left arm to pick the bottle with curved body.",
+    "Use the left arm to grab the curvy orange bottle with white section and shake.",
+    "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.",
+    "Pick and shake the the bottle with yellow sticker label with the left arm.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Shake the bottle with yellow sticker label after picking it with the left arm.",
+    "Pick up the bottle with yellow sticker label with the left arm and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Use the left arm to pick the bottle with yellow sticker label.",
+    "Use the left arm to grab the bottle with yellow sticker label and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "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.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Shake the bottle with curved body after picking it with the left arm.",
+    "Pick up the bottle with yellow sticker label 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 shake it.",
+    "Use the left arm to pick the bottle with curved body.",
+    "Use the left arm to grab the bottle with yellow sticker label and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick and shake the the curvy orange bottle with white section with the left arm.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Shake the bottle with curved body after picking it 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 shake it.",
+    "Use the left arm to pick the bottle with curved body.",
+    "Use the left arm to grab the curvy orange bottle with white section and shake.",
+    "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.",
+    "Pick and shake the the bottle with yellow sticker label with the left arm.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Shake the bottle with curved body after picking it 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 shake it.",
+    "Use the left arm to pick the curvy orange bottle with white section.",
+    "Use the left arm to grab the curvy orange bottle with white section and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "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.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Shake the bottle with yellow sticker label after picking it with the left arm.",
+    "Pick up the bottle with yellow sticker label with the left arm and shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Use the left arm to pick the bottle with curved body.",
+    "Use the left arm to grab the curvy orange bottle with white section and shake.",
+    "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.",
+    "Pick and shake the the bottle with yellow sticker label with the left arm.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Shake the curvy orange bottle with white section after picking it with the left arm.",
+    "Pick up the bottle with yellow sticker label with the left arm and shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with curved body and shake it.",
+    "Use the left arm to pick the bottle with curved body.",
+    "Use the left arm to grab the bottle with yellow sticker label and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "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.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Shake the curvy orange bottle with white section after picking it with the left arm.",
+    "Pick up the bottle with curved body 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 shake it.",
+    "Use the left arm to pick the curvy orange bottle with white section.",
+    "Use the left arm to grab the bottle with yellow sticker label and shake.",
+    "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.",
+    "Pick and shake the the bottle with curved body with the left arm.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Shake the curvy orange bottle with white section after picking it 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 shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003046.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003046.json
new file mode 100644
index 0000000000000000000000000000000000000000..175ca20f004e425029274018051b9c86a1758e52
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003046.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to lift and shake the bottle with ridges near base.",
+    "Grab and shake the bottle with ridges near base using the right arm.",
+    "Shake the smooth green plastic bottle after grabbing it.",
+    "Use the right arm to hold the green bottle with indented base and shake it.",
+    "Grasp the handheld green bottle with the right arm and shake it.",
+    "Lift the bottle with rounded neck with the right arm and shake.",
+    "Catch the medium-sized green bottle and shake it instantly.",
+    "Grab the smooth green plastic bottle using the right arm, then shake.",
+    "Grab the bottle with white printed label and shake it steadily.",
+    "Lift the plastic bottle and shake it thoroughly.",
+    "Shake the medium green bottle with capped neck thoroughly after grabbing it.",
+    "Use the right arm to lift and shake the medium green bottle with capped neck.",
+    "Lift up the smooth green bottle using the right arm, then shake.",
+    "Secure the green bottle with indented base and perform a shake.",
+    "Shake the green bottle with indented base after lifting it.",
+    "Pick the bottle with rounded neck up using the right arm and shake it.",
+    "Hold the smooth green bottle and shake it properly.",
+    "Grab the bottle with ridges near base and move it to shake.",
+    "Shake the the bottle with narrow top properly after lifting.",
+    "Pick the handheld green bottle, shake it with the right arm.",
+    "Secure the smooth green bottle, shake it, and place it down.",
+    "Pick up the smooth green plastic bottle and shake it well.",
+    "Shake the green bottle with indented base after grabbing it.",
+    "Lift the bottle with ridges near base and shake it gently.",
+    "Pick the green bottle with indented base and perform shaking motion.",
+    "Grip the bottle with white printed label using the right arm and shake.",
+    "Pick up the smooth green plastic bottle and shake it.",
+    "Shake the plastic bottle firmly after grabbing.",
+    "Grab the smooth green plastic bottle carefully and shake.",
+    "Lift the bottle with ridges near base with the right arm and give it a shake.",
+    "Shake the medium-sized green bottle after grabbing it.",
+    "Grab the bottle with ridges near base with the right arm and shake.",
+    "Using the right arm, shake the medium green bottle and then place it back.",
+    "Use the right arm to pick and shake the bottle with rounded neck.",
+    "Take the medium-sized green bottle using the right arm and give it a shake.",
+    "Use the right arm to grab the green bottle with indented base and shake it.",
+    "Pick the bottle with ridges near base up with the right arm and shake.",
+    "With the right arm, pick the bottle with narrow top and shake properly.",
+    "Lift the bottle with ridges near base with the right arm and shake it.",
+    "Grab the smooth green plastic bottle and give it a shake.",
+    "Use the right arm to grab the green bottle with indented base and shake properly.",
+    "Hold the bottle with white printed label, shake it briefly.",
+    "Grab the bottle with ridges near base firmly, shake it, and put it down.",
+    "Utilize the right arm to hold the medium green bottle with capped neck and shake it.",
+    "Use the right arm to lift and shake the green bottle with indented base.",
+    "Shake the handheld green bottle after holding it firmly.",
+    "Shake the bottle with ridges near base using the right arm after grabbing.",
+    "Hold the bottle with rounded neck with the right arm and shake lightly.",
+    "Hold and shake the the smooth green bottle carefully.",
+    "Hold the plastic bottle steady, then shake it.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Grab and shake the plastic bottle using the right arm.",
+    "Shake the medium green bottle with capped neck after grabbing it.",
+    "Use the right arm to hold the medium green bottle and shake it.",
+    "Grasp the plastic bottle with the right arm and shake it.",
+    "Lift the bottle with rounded neck with the right arm and shake.",
+    "Catch the bottle with white printed label and shake it instantly.",
+    "Grab the bottle with rounded neck using the right arm, then shake.",
+    "Grab the smooth green bottle and shake it steadily.",
+    "Lift the handheld green bottle and shake it thoroughly.",
+    "Shake the smooth green plastic bottle thoroughly after grabbing it.",
+    "Use the right arm to lift and shake the medium green bottle.",
+    "Lift up the plastic bottle using the right arm, then shake.",
+    "Secure the medium green bottle and perform a shake.",
+    "Shake the bottle with rounded neck after lifting it.",
+    "Pick the green bottle with indented base up using the right arm and shake it.",
+    "Hold the bottle with ridges near base and shake it properly.",
+    "Grab the medium green bottle and move it to shake.",
+    "Shake the the plastic bottle properly after lifting.",
+    "Pick the handheld green bottle, shake it with the right arm.",
+    "Secure the medium green bottle, shake it, and place it down.",
+    "Pick up the smooth green bottle and shake it well.",
+    "Shake the medium green bottle with capped neck after grabbing it.",
+    "Lift the medium green bottle with capped neck and shake it gently.",
+    "Pick the medium green bottle and perform shaking motion.",
+    "Grip the medium-sized green bottle using the right arm and shake.",
+    "Pick up the smooth green plastic bottle and shake it.",
+    "Shake the handheld green bottle firmly after grabbing.",
+    "Grab the handheld green bottle carefully and shake.",
+    "Lift the handheld green bottle with the right arm and give it a shake.",
+    "Shake the medium green bottle after grabbing it.",
+    "Grab the bottle with rounded neck with the right arm and shake.",
+    "Using the right arm, shake the medium green bottle and then place it back.",
+    "Use the right arm to pick and shake the medium green bottle.",
+    "Take the medium green bottle using the right arm and give it a shake.",
+    "Use the right arm to grab the bottle with ridges near base and shake it.",
+    "Pick the smooth green bottle up with the right arm and shake.",
+    "With the right arm, pick the green bottle with indented base and shake properly.",
+    "Lift the plastic bottle with the right arm and shake it.",
+    "Grab the plastic bottle and give it a shake.",
+    "Use the right arm to grab the smooth green plastic bottle and shake properly.",
+    "Hold the medium-sized green bottle, shake it briefly.",
+    "Grab the medium green bottle firmly, shake it, and put it down.",
+    "Utilize the right arm to hold the bottle with rounded neck and shake it.",
+    "Use the right arm to lift and shake the medium green bottle.",
+    "Shake the bottle with rounded neck after holding it firmly.",
+    "Shake the handheld green bottle using the right arm after grabbing.",
+    "Hold the bottle with narrow top with the right arm and shake lightly.",
+    "Hold and shake the the green bottle with indented base carefully.",
+    "Hold the handheld green bottle steady, then shake it."
+  ],
+  "unseen": [
+    "Use the right arm to pick the green bottle.",
+    "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.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Shake the green bottle with white label after picking it with the right arm.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "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.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Use the right arm to pick the green plastic bottle with ridged bottom.",
+    "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.",
+    "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.",
+    "Grab the green bottle with white label, 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.",
+    "Pick up the green bottle with white label and shake it.",
+    "Use the right arm to pick the green plastic bottle with ridged bottom.",
+    "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.",
+    "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.",
+    "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 plastic bottle with ridged bottom and give it a shake.",
+    "Pick up the green bottle and shake it.",
+    "Use the right arm to pick the green plastic bottle with ridged bottom.",
+    "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.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Shake the green bottle with white label after picking it with the right arm.",
+    "Pick up the green 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 right arm and shake.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Pick up the green bottle with white label and shake it.",
+    "Use the right arm to pick the green bottle with white label.",
+    "Use the right arm to grab the green bottle with white label and shake.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the right arm.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "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, 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.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Use the right arm to pick the green bottle with white label.",
+    "Use the right arm to grab the green bottle with white label and shake.",
+    "Pick and shake the the green bottle with the right arm.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Shake the green bottle with white label after picking it with the right arm.",
+    "Pick up the green 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 right arm and shake.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Pick up the green bottle and shake it.",
+    "Use the right arm to pick the green plastic bottle with ridged bottom.",
+    "Use the right arm to grab the green bottle and shake.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the right arm.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Shake the green bottle 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, 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.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Use the right arm to pick the green bottle with white label.",
+    "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.",
+    "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.",
+    "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 with white label and give it a shake.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Use the right arm to pick the green bottle.",
+    "Use the right arm to grab the green bottle and shake.",
+    "Pick and shake the the green bottle with the right arm.",
+    "Grab the green bottle with white label and shake it.",
+    "Shake the green bottle with white label after picking it with the right arm.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "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 bottle with white label and give it a shake.",
+    "Pick up the green bottle and shake it.",
+    "Use the right arm to pick the green bottle with white label.",
+    "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.",
+    "Grab the green bottle 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.",
+    "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 bottle with white label and give it a shake.",
+    "Pick up the green plastic bottle with ridged bottom and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003122.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003122.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9f982a676250edab1a100edef0dc88143b31f7d
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003122.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to grab the bottle with green and white labels and shake it.",
+    "Hold the plastic bottle steady, then shake it.",
+    "Grab and shake the yellow bottle with a green design using the right arm.",
+    "Grab the bottle with white cap and shake it steadily.",
+    "Grab the yellow container with rounded edges firmly, shake it, and put it down.",
+    "Hold the medium rectangular yellow bottle, shake it briefly.",
+    "Grab the medium rectangular yellow bottle and move it to shake.",
+    "Lift the rectangular bottle with cylindrical neck with the right arm and shake.",
+    "Take the bottle with green label using the right arm and give it a shake.",
+    "Pick the yellow bottle with a green design up with the right arm and shake.",
+    "Shake the the plastic bottle properly after lifting.",
+    "Hold the yellow bottle with a green design and shake it properly.",
+    "Utilize the right arm to hold the yellow bottle with a green design and shake it.",
+    "Grab the yellow container with rounded edges using the right arm, then shake.",
+    "Pick up the medium rectangular yellow bottle and shake it.",
+    "Shake the yellow bottle after holding it firmly.",
+    "Shake the yellow bottle thoroughly after grabbing it.",
+    "Using the right arm, shake the yellow plastic bottle with white top and then place it back.",
+    "Pick the bottle with green label, shake it with the right arm.",
+    "Hold and shake the the bottle with green and white labels carefully.",
+    "Shake the smooth bottle with rounded edges after grabbing it.",
+    "Pick the yellow container with rounded edges up using the right arm and shake it.",
+    "Shake the yellow container with rounded edges firmly after grabbing.",
+    "Shake the rectangular bottle with cylindrical neck using the right arm after grabbing.",
+    "Grip the yellow bottle with a green design using the right arm and shake.",
+    "Use the right arm to hold the plastic bottle and shake it.",
+    "Grab the medium rectangular yellow bottle and give it a shake.",
+    "Use the right arm to lift and shake the yellow bottle with a green design.",
+    "Use the right arm to lift and shake the bottle with white cap.",
+    "Lift the plastic bottle with the right arm and shake it.",
+    "Pick up the bottle with a smooth plastic body and shake it well.",
+    "Lift the plastic bottle with the right arm and give it a shake.",
+    "Catch the bottle with a smooth plastic body and shake it instantly.",
+    "Grab the bottle with green label carefully and shake.",
+    "Shake the yellow bottle with a green design after lifting it.",
+    "Lift up the yellow bottle using the right arm, then shake.",
+    "Shake the bottle with a smooth plastic body after grabbing it.",
+    "Secure the rectangular bottle with cylindrical neck and perform a shake.",
+    "Secure the bottle with white cap, shake it, and place it down.",
+    "Use the right arm to pick and shake the yellow bottle with a green design.",
+    "Lift the rectangular bottle with cylindrical neck and shake it thoroughly.",
+    "Use the right arm to lift and shake the yellow container with rounded edges.",
+    "Pick the bottle with a smooth plastic body and perform shaking motion.",
+    "Lift the bottle with green label and shake it gently.",
+    "Grab the bottle with green label with the right arm and shake.",
+    "With the right arm, pick the bottle with green and white labels and shake properly.",
+    "Use the right arm to grab the yellow plastic bottle with white top and shake properly.",
+    "Shake the medium rectangular yellow bottle after grabbing it.",
+    "Grasp the medium rectangular yellow bottle with the right arm and shake it.",
+    "Hold the yellow bottle with a green design with the right arm and shake lightly.",
+    "Use the right arm to grab the bottle with a smooth plastic body and shake it.",
+    "Hold the yellow bottle with a green design steady, then shake it.",
+    "Grab and shake the bottle with a smooth plastic body using the right arm.",
+    "Grab the yellow bottle with a green design and shake it steadily.",
+    "Grab the plastic bottle firmly, shake it, and put it down.",
+    "Hold the smooth bottle with rounded edges, shake it briefly.",
+    "Grab the bottle with green and white labels and move it to shake.",
+    "Lift the yellow container with rounded edges with the right arm and shake.",
+    "Take the smooth bottle with rounded edges using the right arm and give it a shake.",
+    "Pick the yellow container with rounded edges up with the right arm and shake.",
+    "Shake the the yellow bottle properly after lifting.",
+    "Hold the bottle with a smooth plastic body and shake it properly.",
+    "Utilize the right arm to hold the bottle with green label and shake it.",
+    "Grab the bottle with green label using the right arm, then shake.",
+    "Pick up the yellow plastic bottle with white top and shake it.",
+    "Shake the bottle with a smooth plastic body after holding it firmly.",
+    "Shake the bottle with green and white labels thoroughly after grabbing it.",
+    "Using the right arm, shake the rectangular bottle with cylindrical neck and then place it back.",
+    "Pick the yellow bottle with a green design, shake it with the right arm.",
+    "Hold and shake the the yellow plastic bottle with white top carefully.",
+    "Shake the smooth bottle with rounded edges after grabbing it.",
+    "Pick the yellow bottle up using the right arm and shake it.",
+    "Shake the bottle with a smooth plastic body firmly after grabbing.",
+    "Shake the bottle with white cap using the right arm after grabbing.",
+    "Grip the bottle with green label using the right arm and shake.",
+    "Use the right arm to hold the bottle with green and white labels and shake it.",
+    "Grab the medium rectangular yellow bottle and give it a shake.",
+    "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 plastic bottle with white top.",
+    "Lift the smooth bottle with rounded edges with the right arm and shake it.",
+    "Pick up the plastic bottle and shake it well.",
+    "Lift the rectangular bottle with cylindrical neck with the right arm and give it a shake.",
+    "Catch the bottle with green label and shake it instantly.",
+    "Grab the bottle with white cap carefully and shake.",
+    "Shake the smooth bottle with rounded edges after lifting it.",
+    "Lift up the rectangular bottle with cylindrical neck using the right arm, then shake.",
+    "Shake the bottle with green label after grabbing it.",
+    "Secure the bottle with a smooth plastic body and perform a shake.",
+    "Secure the bottle with a smooth plastic body, shake it, and place it down.",
+    "Use the right arm to pick and shake the yellow plastic bottle with white top.",
+    "Lift the yellow plastic bottle with white top and shake it thoroughly.",
+    "Use the right arm to lift and shake the yellow bottle.",
+    "Pick the yellow plastic bottle with white top and perform shaking motion.",
+    "Lift the yellow bottle and shake it gently.",
+    "Grab the yellow bottle with a green design with the right arm and shake.",
+    "With the right arm, pick the yellow container with rounded edges and shake properly.",
+    "Use the right arm to grab the rectangular bottle with cylindrical neck and shake properly.",
+    "Shake the plastic bottle after grabbing it.",
+    "Grasp the medium rectangular yellow bottle with the right arm and shake it.",
+    "Hold the smooth bottle with rounded edges with the right arm and shake lightly."
+  ],
+  "unseen": [
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "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 grab the hand-sized yellow plastic bottle and shake.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Use the right arm to pick the yellow bottle for liquid storage.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the yellow rectangular bottle with the right arm and shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Pick and shake the the yellow rectangular bottle with the right arm.",
+    "Use the right arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "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 grab the hand-sized yellow plastic bottle and shake.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Shake the yellow bottle for liquid storage after picking it with the right arm.",
+    "Use the right arm to pick the yellow bottle for liquid storage.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the yellow rectangular bottle with the right arm and shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Pick and shake the the yellow rectangular bottle with the right arm.",
+    "Use the right arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Shake the yellow rectangular bottle after picking it with the right arm.",
+    "Use the right arm to pick the yellow bottle for liquid storage.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the yellow bottle for liquid storage with the right arm and shake.",
+    "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 grab the yellow bottle for liquid storage and shake.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Use the right arm to pick the hand-sized yellow plastic bottle.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Pick up the yellow bottle for liquid storage with the right arm and shake.",
+    "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 grab the hand-sized yellow plastic bottle and shake.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Use the right arm to pick the yellow bottle for liquid storage.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "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 grab the hand-sized yellow plastic bottle and shake.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Shake the yellow bottle for liquid storage after picking it with the right arm.",
+    "Use the right arm to pick the yellow bottle for liquid storage.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Pick up the yellow rectangular bottle with the right arm and shake.",
+    "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 grab the hand-sized yellow plastic bottle and shake.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Shake the yellow bottle for liquid storage after picking it with the right arm.",
+    "Use the right arm to pick the yellow bottle for liquid storage.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "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 grab the yellow bottle for liquid storage and shake.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Use the right arm to pick the hand-sized yellow plastic bottle.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "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 grab the yellow rectangular bottle and shake.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Grab the yellow bottle for liquid storage and give it a shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003185.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003185.json
new file mode 100644
index 0000000000000000000000000000000000000000..614e1ec3929dc08284ccbf40eb367bb6035b19ae
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003185.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the white bottle with blue accents and shake it.",
+    "Shake the bottle with blue cap after holding it firmly.",
+    "Shake the white bottle with blue accents after grabbing it.",
+    "Shake the bottle for liquids after lifting it.",
+    "Pick the white bottle with blue accents, shake it with the left arm.",
+    "Hold the smooth plastic bottle steady, then shake it.",
+    "Pick up the white and blue bottle and shake it well.",
+    "Shake the white and blue bottle after grabbing it.",
+    "Hold the plastic bottle, shake it briefly.",
+    "Grab the bottle for liquids using the left arm, then shake.",
+    "Hold the bottle with blue cap and shake it properly.",
+    "Use the left arm to grab the medium bottle for beverages and shake it.",
+    "Hold the medium-sized bottle with the left arm and shake lightly.",
+    "Utilize the left arm to hold the blue bottle with label and shake it.",
+    "Use the left arm to hold the white bottle with blue accents and shake it.",
+    "Take the blue bottle using the left arm and give it a shake.",
+    "Shake the plastic bottle firmly after grabbing.",
+    "Grab the smooth plastic bottle and shake it steadily.",
+    "Use the left arm to lift and shake the medium-sized bottle.",
+    "Grab the plastic bottle firmly, shake it, and put it down.",
+    "Use the left arm to lift and shake the medium-sized bottle.",
+    "Grab the blue bottle with label with the left arm and shake.",
+    "Use the left arm to lift and shake the white bottle with blue accents.",
+    "Grip the white and blue bottle using the left arm and shake.",
+    "Secure the handheld bottle, shake it, and place it down.",
+    "Pick the blue bottle up using the left arm and shake it.",
+    "Lift the bottle for liquids with the left arm and give it a shake.",
+    "Use the left arm to pick and shake the handheld bottle.",
+    "Lift up the medium bottle for beverages using the left arm, then shake.",
+    "Shake the bottle for liquids after grabbing it.",
+    "Shake the the blue bottle properly after lifting.",
+    "Grab the medium-sized bottle carefully and shake.",
+    "Shake the plastic bottle using the left arm after grabbing.",
+    "Lift the white bottle with blue accents with the left arm and shake.",
+    "Lift the bottle for liquids with the left arm and shake it.",
+    "Grab the bottle with blue cap and move it to shake.",
+    "Grab and shake the white bottle with blue accents using the left arm.",
+    "Lift the plastic bottle and shake it thoroughly.",
+    "Lift the bottle with blue cap and shake it gently.",
+    "Using the left arm, shake the white and blue bottle and then place it back.",
+    "Secure the cylindrical bottle and perform a shake.",
+    "Shake the blue bottle with label thoroughly after grabbing it.",
+    "Grasp the blue bottle with the left arm and shake it.",
+    "With the left arm, pick the plastic bottle and shake properly.",
+    "Pick the blue bottle with label up with the left arm and shake.",
+    "Catch the white bottle with blue accents and shake it instantly.",
+    "Use the left arm to grab the blue bottle with label and shake properly.",
+    "Pick the bottle with blue cap and perform shaking motion.",
+    "Hold and shake the the bottle with blue cap carefully.",
+    "Grab the blue bottle with label and give it a shake.",
+    "Pick up the bottle with blue cap and shake it.",
+    "Shake the plastic bottle after holding it firmly.",
+    "Shake the blue bottle after grabbing it.",
+    "Shake the white and blue bottle after lifting it.",
+    "Pick the plastic bottle, shake it with the left arm.",
+    "Hold the blue bottle with label steady, then shake it.",
+    "Pick up the medium bottle for beverages and shake it well.",
+    "Shake the handheld bottle after grabbing it.",
+    "Hold the plastic bottle, shake it briefly.",
+    "Grab the blue bottle using the left arm, then shake.",
+    "Hold the cylindrical bottle and shake it properly.",
+    "Use the left arm to grab the blue bottle and shake it.",
+    "Hold the white bottle with blue accents with the left arm and shake lightly.",
+    "Utilize the left arm to hold the medium bottle for beverages and shake it.",
+    "Use the left arm to hold the handheld bottle and shake it.",
+    "Take the blue bottle with label using the left arm and give it a shake.",
+    "Shake the handheld bottle firmly after grabbing.",
+    "Grab the blue bottle and shake it steadily.",
+    "Use the left arm to lift and shake the smooth plastic bottle.",
+    "Grab the cylindrical bottle firmly, shake it, and put it down.",
+    "Use the left arm to lift and shake the cylindrical bottle.",
+    "Grab the white bottle with blue accents with the left arm and shake.",
+    "Use the left arm to lift and shake the medium bottle for beverages.",
+    "Grip the blue bottle with label using the left arm and shake.",
+    "Secure the medium-sized bottle, shake it, and place it down.",
+    "Pick the blue bottle with label up using the left arm and shake it.",
+    "Lift the medium-sized bottle with the left arm and give it a shake.",
+    "Use the left arm to pick and shake the cylindrical bottle.",
+    "Lift up the plastic bottle using the left arm, then shake.",
+    "Shake the bottle for liquids after grabbing it.",
+    "Shake the the bottle for liquids properly after lifting.",
+    "Grab the blue bottle carefully and shake.",
+    "Shake the handheld bottle using the left arm after grabbing.",
+    "Lift the medium bottle for beverages with the left arm and shake.",
+    "Lift the cylindrical bottle with the left arm and shake it.",
+    "Grab the white bottle with blue accents and move it to shake.",
+    "Grab and shake the bottle with blue cap using the left arm.",
+    "Lift the blue bottle and shake it thoroughly.",
+    "Lift the medium bottle for beverages and shake it gently.",
+    "Using the left arm, shake the white bottle with blue accents and then place it back.",
+    "Secure the blue bottle with label and perform a shake.",
+    "Shake the white and blue bottle thoroughly after grabbing it.",
+    "Grasp the bottle for liquids with the left arm and shake it.",
+    "With the left arm, pick the bottle for liquids and shake properly.",
+    "Pick the cylindrical bottle up with the left arm and shake.",
+    "Catch the blue bottle with label and shake it instantly.",
+    "Use the left arm to grab the plastic bottle and shake properly.",
+    "Pick the smooth plastic bottle and perform shaking motion.",
+    "Hold and shake the the bottle with blue cap carefully.",
+    "Grab the cylindrical bottle and give it a shake."
+  ],
+  "unseen": [
+    "Shake the blue-capped plastic bottle after picking it with the left arm.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Pick up the blue-capped plastic bottle with the left arm and shake.",
+    "Use the left arm to pick the blue-capped plastic bottle.",
+    "Pick and shake the the bottle with curved neck design with the left arm.",
+    "Use the left arm to grab the blue-capped plastic bottle 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.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Shake the bottle with curved neck design after picking it with the left arm.",
+    "Pick up 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 ridged neck with the left arm and shake.",
+    "Use the left arm to pick the bottle with ridged neck.",
+    "Pick and shake the the blue-capped plastic bottle with the left arm.",
+    "Use the left arm to grab the bottle with ridged neck 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.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Shake the bottle with ridged neck after picking it with the left arm.",
+    "Pick up 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 left arm and shake.",
+    "Use the left arm to pick the bottle with curved neck design.",
+    "Pick and shake the the bottle with ridged neck with the left arm.",
+    "Use the left arm to grab the blue-capped plastic bottle 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.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Shake the bottle with ridged neck after picking it with the left arm.",
+    "Pick up 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 ridged neck with the left arm and shake.",
+    "Use the left arm to pick the bottle with ridged neck.",
+    "Pick and shake the the bottle with ridged neck with the left arm.",
+    "Use the left arm to grab the bottle with ridged neck 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.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Shake the bottle with ridged neck after picking it with the left arm.",
+    "Pick up 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 left arm and shake.",
+    "Use the left arm to pick the bottle with ridged neck.",
+    "Pick and shake the the bottle with curved neck design with the left arm.",
+    "Use the left arm to grab the bottle with ridged neck 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.",
+    "Grab the bottle with curved neck design and shake it.",
+    "Shake the bottle with ridged neck after picking it with the left arm.",
+    "Pick up 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 with the left arm and shake.",
+    "Use the left arm to pick the bottle with curved neck design.",
+    "Pick and shake the the blue-capped plastic bottle with the left arm.",
+    "Use the left arm to grab the bottle with curved neck design 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.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Shake the blue-capped plastic bottle after picking it with the left arm.",
+    "Pick up 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 ridged neck with the left arm and shake.",
+    "Use the left arm to pick the blue-capped plastic bottle.",
+    "Pick and shake the the blue-capped plastic bottle with the left arm.",
+    "Use the left arm to grab the blue-capped plastic bottle 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.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Shake the blue-capped plastic bottle after picking it with the left arm.",
+    "Pick up 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 left arm and shake.",
+    "Use the left arm to pick the bottle with ridged neck.",
+    "Pick and shake the the bottle with ridged neck with the left arm.",
+    "Use the left arm to grab the blue-capped plastic bottle 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.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Shake the bottle with ridged neck after picking it with the left arm.",
+    "Pick up 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 left arm and shake.",
+    "Use the left arm to pick the blue-capped plastic bottle.",
+    "Pick and shake the the blue-capped plastic bottle with the left arm.",
+    "Use the left arm to grab the bottle with curved neck design 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.",
+    "Grab the bottle with curved neck design and shake it.",
+    "Shake the bottle with curved neck design after picking it with the left arm.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Grab the blue-capped plastic bottle and give it a shake.",
+    "Pick up the bottle with ridged neck with the left arm and shake.",
+    "Use the left arm to pick the bottle with ridged neck.",
+    "Pick and shake the the bottle with ridged neck with the left arm.",
+    "Use the left arm to grab the bottle with curved neck design 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.",
+    "Grab the bottle with curved neck design and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003207.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003207.json
new file mode 100644
index 0000000000000000000000000000000000000000..193396611f1893766e0565220603c4a1201813a0
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003207.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the plastic bottle and shake it properly.",
+    "Take the orange and white bottle with cap using the right arm and give it a shake.",
+    "Lift the smooth plastic bottle and shake it thoroughly.",
+    "Pick the white and orange plastic bottle up with the right arm and shake.",
+    "Shake the the white and orange plastic bottle properly after lifting.",
+    "Shake the yellow label bottle firmly after grabbing.",
+    "Shake the cylindrical orange and white bottle after lifting it.",
+    "Lift the bottle with orange cap with the right arm and shake it.",
+    "Lift the orange and white bottle with cap with the right arm and give it a shake.",
+    "Pick the yellow label bottle, shake it with the right arm.",
+    "Grab the yellow label bottle firmly, shake it, and put it down.",
+    "Grasp the medium orange bottle with the right arm and shake it.",
+    "Shake the drinking bottle with yellow label after grabbing it.",
+    "Lift up the medium bottle with orange lid using the right arm, then shake.",
+    "Shake the medium orange bottle thoroughly after grabbing it.",
+    "Use the right arm to lift and shake the cylindrical orange and white bottle.",
+    "Hold the orange bottle with the right arm and shake lightly.",
+    "With the right arm, pick the smooth plastic bottle and shake properly.",
+    "Grab the plastic bottle using the right arm, then shake.",
+    "Hold the medium bottle with orange lid, shake it briefly.",
+    "Utilize the right arm to hold the drinking bottle with yellow label and shake it.",
+    "Grab the medium orange bottle with the right arm and shake.",
+    "Shake the bottle with orange cap after grabbing it.",
+    "Grab and shake the yellow label bottle using the right arm.",
+    "Use the right arm to grab the yellow label bottle and shake it.",
+    "Shake the white and orange plastic bottle after grabbing it.",
+    "Grip the white and orange plastic bottle using the right arm and shake.",
+    "Secure the bottle with orange cap and perform a shake.",
+    "Shake the orange and white bottle with cap after holding it firmly.",
+    "Secure the bottle with orange cap, shake it, and place it down.",
+    "Grab the white and orange plastic bottle and give it a shake.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Lift the medium bottle with orange lid with the right arm and shake.",
+    "Grab the drinking bottle with yellow label carefully and shake.",
+    "Hold and shake the the smooth plastic bottle carefully.",
+    "Pick the yellow label bottle and perform shaking motion.",
+    "Using the right arm, shake the drinking bottle with yellow label and then place it back.",
+    "Pick up the smooth plastic bottle and shake it well.",
+    "Pick the plastic bottle up using the right arm and shake it.",
+    "Use the right arm to pick and shake the medium orange bottle.",
+    "Use the right arm to grab the cylindrical orange and white bottle and shake properly.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Use the right arm to hold the white and orange plastic bottle and shake it.",
+    "Grab the smooth plastic bottle and shake it steadily.",
+    "Pick up the orange and white bottle with cap and shake it.",
+    "Hold the plastic bottle steady, then shake it.",
+    "Lift the plastic bottle and shake it gently.",
+    "Grab the orange bottle and move it to shake.",
+    "Shake the orange bottle using the right arm after grabbing.",
+    "Catch the plastic bottle and shake it instantly.",
+    "Hold the cylindrical orange and white bottle and shake it properly.",
+    "Take the white and orange plastic bottle using the right arm and give it a shake.",
+    "Lift the white and orange plastic bottle and shake it thoroughly.",
+    "Pick the medium orange bottle up with the right arm and shake.",
+    "Shake the the drinking bottle with yellow label properly after lifting.",
+    "Shake the smooth plastic bottle firmly after grabbing.",
+    "Shake the orange and white bottle with cap after lifting it.",
+    "Lift the cylindrical orange and white bottle with the right arm and shake it.",
+    "Lift the medium orange bottle with the right arm and give it a shake.",
+    "Pick the drinking bottle with yellow label, shake it with the right arm.",
+    "Grab the drinking bottle with yellow label firmly, shake it, and put it down.",
+    "Grasp the drinking bottle with yellow label with the right arm and shake it.",
+    "Shake the smooth plastic bottle after grabbing it.",
+    "Lift up the cylindrical orange and white bottle using the right arm, then shake.",
+    "Shake the smooth plastic bottle thoroughly after grabbing it.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Hold the medium bottle with orange lid with the right arm and shake lightly.",
+    "With the right arm, pick the bottle with orange cap and shake properly.",
+    "Grab the yellow label bottle using the right arm, then shake.",
+    "Hold the bottle with orange cap, shake it briefly.",
+    "Utilize the right arm to hold the bottle with ribbed orange bottom and shake it.",
+    "Grab the plastic bottle with the right arm and shake.",
+    "Shake the yellow label bottle after grabbing it.",
+    "Grab and shake the medium orange bottle using the right arm.",
+    "Use the right arm to grab the yellow label bottle and shake it.",
+    "Shake the orange bottle after grabbing it.",
+    "Grip the drinking bottle with yellow label using the right arm and shake.",
+    "Secure the cylindrical orange and white bottle and perform a shake.",
+    "Shake the drinking bottle with yellow label after holding it firmly.",
+    "Secure the plastic bottle, shake it, and place it down.",
+    "Grab the medium orange bottle and give it a shake.",
+    "Use the right arm to lift and shake the medium orange bottle.",
+    "Lift the orange bottle with the right arm and shake.",
+    "Grab the yellow label bottle carefully and shake.",
+    "Hold and shake the the medium bottle with orange lid carefully.",
+    "Pick the bottle with orange cap and perform shaking motion.",
+    "Using the right arm, shake the yellow label bottle and then place it back.",
+    "Pick up the bottle with ribbed orange bottom and shake it well.",
+    "Pick the white and orange plastic bottle up using the right arm and shake it.",
+    "Use the right arm to pick and shake the drinking bottle with yellow label.",
+    "Use the right arm to grab the white and orange plastic bottle and shake properly.",
+    "Use the right arm to lift and shake the drinking bottle with yellow label.",
+    "Use the right arm to hold the bottle with orange cap and shake it.",
+    "Grab the orange and white bottle with cap and shake it steadily.",
+    "Pick up the medium orange bottle and shake it.",
+    "Hold the plastic bottle steady, then shake it.",
+    "Lift the orange and white bottle with cap and shake it gently.",
+    "Grab the plastic bottle and move it to shake.",
+    "Shake the plastic bottle using the right arm after grabbing.",
+    "Catch the cylindrical orange and white bottle and shake it instantly."
+  ],
+  "unseen": [
+    "Grab the bottle with curved body and shake it.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "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.",
+    "Grab the bottle with curved body and give it a shake.",
+    "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 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.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab 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 curved body, shake it properly, then set it down.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Grab the bottle with curved body and give it a shake.",
+    "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 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.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab 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, shake it properly, then set it down.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Grab the bottle with curved body and give it a shake.",
+    "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 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.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab 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 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.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "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 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.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with curved body and shake it.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "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.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "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 up the bottle with curved body with the right arm and shake.",
+    "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.",
+    "Grab 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, shake it properly, then set it down.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "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 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.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with curved body and shake it.",
+    "Use the right 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.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "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 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.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "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.",
+    "Grab the bottle with curved body and give it a shake.",
+    "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 up the bottle with curved body with the right arm and shake.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab 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, shake it properly, then set it down.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "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 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.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "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.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "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 up the bottle with yellow sticker label with the right arm and shake.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Pick up the bottle with yellow sticker label and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003350.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003350.json
new file mode 100644
index 0000000000000000000000000000000000000000..9de1164df6b9e0b2c537eecd8adb9e756038eb40
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003350.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the bottle with green and white labels and shake it properly.",
+    "Use the right arm to lift and shake the smooth bottle with rounded edges.",
+    "Lift up the bottle with white cap using the right arm, then shake.",
+    "Use the right arm to lift and shake the yellow container with rounded edges.",
+    "Secure the bottle with white cap, shake it, and place it down.",
+    "Shake the yellow bottle after grabbing it.",
+    "Pick up the yellow container with rounded edges and shake it.",
+    "Pick the yellow bottle up using the right arm and shake it.",
+    "Use the right arm to hold the bottle with a smooth plastic body and shake it.",
+    "Shake the the yellow plastic bottle with white top properly after lifting.",
+    "Use the right arm to lift and shake the bottle with white cap.",
+    "Grab the yellow plastic bottle with white top and shake it steadily.",
+    "Lift the medium rectangular yellow bottle and shake it thoroughly.",
+    "Catch the yellow bottle and shake it instantly.",
+    "Lift the rectangular bottle with cylindrical neck with the right arm and shake it.",
+    "With the right arm, pick the bottle with white cap and shake properly.",
+    "Hold the rectangular bottle with cylindrical neck, shake it briefly.",
+    "Shake the smooth bottle with rounded edges thoroughly after grabbing it.",
+    "Hold the bottle with a smooth plastic body with the right arm and shake lightly.",
+    "Shake the smooth bottle with rounded edges firmly after grabbing.",
+    "Grab the yellow bottle using the right arm, then shake.",
+    "Hold and shake the the bottle with white cap carefully.",
+    "Take the bottle with green label using the right arm and give it a shake.",
+    "Use the right arm to grab the yellow bottle with a green design and shake properly.",
+    "Grab the plastic bottle and give it a shake.",
+    "Lift the yellow plastic bottle with white top and shake it gently.",
+    "Secure the bottle with white cap and perform a shake.",
+    "Using the right arm, shake the yellow plastic bottle with white top and then place it back.",
+    "Pick the yellow bottle with a green design, shake it with the right arm.",
+    "Grab the bottle with green label and move it to shake.",
+    "Pick the medium rectangular yellow bottle up with the right arm and shake.",
+    "Shake the yellow plastic bottle with white top after holding it firmly.",
+    "Shake the medium rectangular yellow bottle using the right arm after grabbing.",
+    "Pick the yellow bottle and perform shaking motion.",
+    "Grab the yellow plastic bottle with white top with the right arm and shake.",
+    "Shake the rectangular bottle with cylindrical neck after lifting it.",
+    "Utilize the right arm to hold the yellow plastic bottle with white top and shake it.",
+    "Hold the rectangular bottle with cylindrical neck steady, then shake it.",
+    "Pick up the medium rectangular yellow bottle and shake it well.",
+    "Shake the yellow bottle after grabbing it.",
+    "Grab the yellow bottle carefully and shake.",
+    "Grip the yellow bottle using the right arm and shake.",
+    "Lift the yellow bottle with a green design with the right arm and give it a shake.",
+    "Use the right arm to pick and shake the bottle with green label.",
+    "Grab and shake the plastic bottle using the right arm.",
+    "Grab the medium rectangular yellow bottle firmly, shake it, and put it down.",
+    "Shake the smooth bottle with rounded edges after grabbing it.",
+    "Use the right arm to grab the medium rectangular yellow bottle and shake it.",
+    "Lift the bottle with a smooth plastic body with the right arm and shake.",
+    "Grasp the smooth bottle with rounded edges with the right arm and shake it.",
+    "Hold the plastic bottle and shake it properly.",
+    "Use the right arm to lift and shake the rectangular bottle with cylindrical neck.",
+    "Lift up the bottle with a smooth plastic body using the right arm, then shake.",
+    "Use the right arm to lift and shake the yellow bottle.",
+    "Secure the bottle with a smooth plastic body, shake it, and place it down.",
+    "Shake the yellow plastic bottle with white top after grabbing it.",
+    "Pick up the yellow container with rounded edges and shake it.",
+    "Pick the smooth bottle with rounded edges up using the right arm and shake it.",
+    "Use the right arm to hold the bottle with white cap and shake it.",
+    "Shake the the yellow plastic bottle with white top properly after lifting.",
+    "Use the right arm to lift and shake the yellow bottle.",
+    "Grab the yellow container with rounded edges and shake it steadily.",
+    "Lift the yellow bottle with a green design and shake it thoroughly.",
+    "Catch the yellow container with rounded edges and shake it instantly.",
+    "Lift the bottle with green and white labels with the right arm and shake it.",
+    "With the right arm, pick the rectangular bottle with cylindrical neck and shake properly.",
+    "Hold the smooth bottle with rounded edges, shake it briefly.",
+    "Shake the bottle with a smooth plastic body thoroughly after grabbing it.",
+    "Hold the smooth bottle with rounded edges with the right arm and shake lightly.",
+    "Shake the medium rectangular yellow bottle firmly after grabbing.",
+    "Grab the medium rectangular yellow bottle using the right arm, then shake.",
+    "Hold and shake the the bottle with green label carefully.",
+    "Take the bottle with green label using the right arm and give it a shake.",
+    "Use the right arm to grab the yellow bottle and shake properly.",
+    "Grab the bottle with a smooth plastic body and give it a shake.",
+    "Lift the yellow bottle with a green design and shake it gently.",
+    "Secure the plastic bottle and perform a shake.",
+    "Using the right arm, shake the plastic bottle and then place it back.",
+    "Pick the yellow container with rounded edges, shake it with the right arm.",
+    "Grab the bottle with a smooth plastic body and move it to shake.",
+    "Pick the bottle with green label up with the right arm and shake.",
+    "Shake the rectangular bottle with cylindrical neck after holding it firmly.",
+    "Shake the bottle with white cap using the right arm after grabbing.",
+    "Pick the bottle with green and white labels and perform shaking motion.",
+    "Grab the medium rectangular yellow bottle with the right arm and shake.",
+    "Shake the bottle with green and white labels after lifting it.",
+    "Utilize the right arm to hold the medium rectangular yellow bottle and shake it.",
+    "Hold the yellow container with rounded edges steady, then shake it.",
+    "Pick up the smooth bottle with rounded edges and shake it well.",
+    "Shake the yellow container with rounded edges after grabbing it.",
+    "Grab the yellow container with rounded edges carefully and shake.",
+    "Grip the smooth bottle with rounded edges using the right arm and shake.",
+    "Lift the plastic bottle with the right arm and give it a shake.",
+    "Use the right arm to pick and shake the medium rectangular yellow bottle.",
+    "Grab and shake the yellow bottle using the right arm.",
+    "Grab the bottle with a smooth plastic body firmly, shake it, and put it down.",
+    "Shake the medium rectangular yellow bottle after grabbing it.",
+    "Use the right arm to grab the yellow plastic bottle with white top and shake it.",
+    "Lift the bottle with white cap with the right arm and shake.",
+    "Grasp the bottle with a smooth plastic body with the right arm and shake it."
+  ],
+  "unseen": [
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Use the right arm to pick the yellow bottle for liquid storage.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Shake the yellow rectangular bottle after picking it with the right arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Pick up the yellow bottle for liquid storage with the right arm and shake.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Use the right arm to pick the hand-sized yellow plastic bottle.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Shake the yellow rectangular bottle after picking it with the right arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Pick up the yellow rectangular bottle with the right arm and shake.",
+    "Use the right arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Use the right arm to pick the yellow bottle for liquid storage.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Shake the yellow bottle for liquid storage after picking it with the right arm.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Pick up the yellow rectangular bottle with the right arm and shake.",
+    "Use the right arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Use the right arm to pick the hand-sized yellow plastic bottle.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Shake the yellow rectangular bottle after picking it with the right arm.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the yellow bottle for liquid storage with the right arm and shake.",
+    "Use the right arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Pick up the yellow bottle for liquid storage with the right arm and shake.",
+    "Use the right arm to grab the yellow rectangular bottle and shake.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Pick and shake the the yellow rectangular bottle with the right arm.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Pick and shake the the yellow rectangular bottle with the right arm.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Shake the yellow rectangular bottle after picking it with the right arm.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the yellow bottle for liquid storage with the right arm and shake.",
+    "Use the right arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Use the right arm to pick the yellow bottle for liquid storage.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Shake the yellow bottle for liquid storage after picking it with the right arm.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Pick up the yellow rectangular bottle with the right arm and shake.",
+    "Use the right arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "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.",
+    "Pick up the yellow rectangular bottle with the right arm and shake.",
+    "Use the right arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Pick and shake the the yellow bottle for liquid storage with the right arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Use the right arm to pick the yellow bottle for liquid storage.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Shake the yellow rectangular bottle after picking it with the right arm.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "Use the right arm to grab the yellow rectangular bottle and shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003376.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003376.json
new file mode 100644
index 0000000000000000000000000000000000000000..b54a7ef9dc418a76af9511d266eb966adb8be6e3
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003376.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the plastic drink bottle firmly, shake it, and put it down.",
+    "Shake the dark drink bottle with logo after grabbing it.",
+    "Shake the brown bottle with red label after lifting it.",
+    "Grab the dark drink bottle with logo carefully and shake.",
+    "Pick the plastic drink bottle up using the left arm and shake it.",
+    "Shake the hand-sized soda bottle using the left arm after grabbing.",
+    "Lift the red-capped bottle and shake it gently.",
+    "Lift the dark drink bottle with logo with the left arm and shake it.",
+    "Use the left arm to hold the smooth bottle with red lid and shake it.",
+    "Utilize the left arm to hold the dark drink bottle with logo and shake it.",
+    "Use the left arm to grab the Coca-Cola bottle and shake it.",
+    "Grip the plastic drink bottle using the left arm and shake.",
+    "Grab the brown bottle with red label and give it a shake.",
+    "Shake the the long thin bottle properly after lifting.",
+    "Hold and shake the the smooth bottle with red lid carefully.",
+    "Lift the bottle with white neck and red top and shake it thoroughly.",
+    "Pick up the dark drink bottle with logo and shake it.",
+    "Pick the bottle with ridges on bottom, shake it with the left arm.",
+    "Hold the Coca-Cola bottle with the left arm and shake lightly.",
+    "Shake the narrow-necked bottle firmly after grabbing.",
+    "Grab and shake the plastic drink bottle using the left arm.",
+    "Pick the bottle with white neck and red top and perform shaking motion.",
+    "Pick the brown bottle with red label up with the left arm and shake.",
+    "Grab the long thin bottle with the left arm and shake.",
+    "Using the left arm, shake the medium dark brown bottle and then place it back.",
+    "Lift the smooth bottle with red lid with the left arm and shake.",
+    "Shake the medium dark brown bottle thoroughly after grabbing it.",
+    "Take the dark drink bottle with logo using the left arm and give it a shake.",
+    "Use the left arm to lift and shake the long thin bottle.",
+    "Hold the dark drink bottle with logo, shake it briefly.",
+    "Grab the Coca-Cola bottle using the left arm, then shake.",
+    "Grab the Coca-Cola bottle and shake it steadily.",
+    "Use the left arm to grab the dark drink bottle with logo and shake properly.",
+    "Pick up the bottle with white neck and red top and shake it well.",
+    "Secure the brown bottle with red label and perform a shake.",
+    "Lift the medium dark brown bottle with the left arm and give it a shake.",
+    "Grab the long thin bottle and move it to shake.",
+    "Shake the brown bottle with red label after holding it firmly.",
+    "Hold the hand-sized soda bottle and shake it properly.",
+    "Use the left arm to lift and shake the hand-sized soda bottle.",
+    "Shake the plastic drink bottle after grabbing it.",
+    "Lift up the long thin bottle using the left arm, then shake.",
+    "Grasp the bottle with ridges on bottom with the left arm and shake it.",
+    "Hold the long thin bottle steady, then shake it.",
+    "Use the left arm to lift and shake the hand-sized soda bottle.",
+    "Catch the bottle with ridges on bottom and shake it instantly.",
+    "With the left arm, pick the smooth bottle with red lid and shake properly.",
+    "Shake the hand-sized soda bottle after grabbing it.",
+    "Secure the red-capped bottle, shake it, and place it down.",
+    "Use the left arm to pick and shake the long thin bottle.",
+    "Grab the medium dark brown bottle firmly, shake it, and put it down.",
+    "Shake the narrow-necked bottle after grabbing it.",
+    "Shake the Coca-Cola bottle after lifting it.",
+    "Grab the dark drink bottle with logo carefully and shake.",
+    "Pick the bottle with ridges on bottom up using the left arm and shake it.",
+    "Shake the hand-sized soda bottle using the left arm after grabbing.",
+    "Lift the dark drink bottle with logo and shake it gently.",
+    "Lift the brown bottle with red label with the left arm and shake it.",
+    "Use the left arm to hold the narrow-necked bottle and shake it.",
+    "Utilize the left arm to hold the dark drink bottle with logo and shake it.",
+    "Use the left arm to grab the bottle with white neck and red top and shake it.",
+    "Grip the bottle with white neck and red top using the left arm and shake.",
+    "Grab the bottle with white neck and red top and give it a shake.",
+    "Shake the the medium dark brown bottle properly after lifting.",
+    "Hold and shake the the bottle with white neck and red top carefully.",
+    "Lift the Coca-Cola bottle and shake it thoroughly.",
+    "Pick up the plastic drink bottle and shake it.",
+    "Pick the smooth bottle with red lid, shake it with the left arm.",
+    "Hold the bottle with ridges on bottom with the left arm and shake lightly.",
+    "Shake the bottle with white neck and red top firmly after grabbing.",
+    "Grab and shake the brown bottle with red label using the left arm.",
+    "Pick the medium dark brown bottle and perform shaking motion.",
+    "Pick the dark drink bottle with logo up with the left arm and shake.",
+    "Grab the smooth bottle with red lid with the left arm and shake.",
+    "Using the left arm, shake the hand-sized soda bottle and then place it back.",
+    "Lift the bottle with white neck and red top with the left arm and shake.",
+    "Shake the red-capped bottle thoroughly after grabbing it.",
+    "Take the bottle with white neck and red top using the left arm and give it a shake.",
+    "Use the left arm to lift and shake the medium dark brown bottle.",
+    "Hold the narrow-necked bottle, shake it briefly.",
+    "Grab the narrow-necked bottle using the left arm, then shake.",
+    "Grab the plastic drink bottle and shake it steadily.",
+    "Use the left arm to grab the dark drink bottle with logo and shake properly.",
+    "Pick up the red-capped bottle and shake it well.",
+    "Secure the red-capped bottle and perform a shake.",
+    "Lift the long thin bottle with the left arm and give it a shake.",
+    "Grab the bottle with white neck and red top and move it to shake.",
+    "Shake the narrow-necked bottle after holding it firmly.",
+    "Hold the brown bottle with red label and shake it properly.",
+    "Use the left arm to lift and shake the narrow-necked bottle.",
+    "Shake the smooth bottle with red lid after grabbing it.",
+    "Lift up the smooth bottle with red lid using the left arm, then shake.",
+    "Grasp the brown bottle with red label with the left arm and shake it.",
+    "Hold the Coca-Cola bottle steady, then shake it.",
+    "Use the left arm to lift and shake the dark drink bottle with logo.",
+    "Catch the hand-sized soda bottle and shake it instantly.",
+    "With the left arm, pick the brown bottle with red label and shake properly.",
+    "Shake the plastic drink bottle after grabbing it.",
+    "Secure the bottle with ridges on bottom, shake it, and place it down.",
+    "Use the left arm to pick and shake the plastic drink bottle."
+  ],
+  "unseen": [
+    "Pick up the brown bottle and shake it.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Pick and shake the the bottle with red screw cap with the left arm.",
+    "Grab the brown bottle and shake it.",
+    "Shake the brown 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 plastic soda bottle.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Pick up the brown bottle with the left arm and shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Pick and shake the the plastic soda bottle with the left arm.",
+    "Grab the plastic soda 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 brown bottle.",
+    "Use the left arm to grab the bottle with red screw cap and shake.",
+    "Pick up the plastic soda bottle with the left arm and shake.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Grab 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.",
+    "Use the left arm to grab the plastic soda bottle and shake.",
+    "Pick up the plastic soda bottle with the left arm and shake.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Grab the bottle with red screw cap 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.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Pick up the brown bottle with the left arm and shake.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Pick and shake the the plastic soda bottle with the left arm.",
+    "Grab the plastic soda 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 brown bottle.",
+    "Use the left arm to grab the bottle with red screw cap and shake.",
+    "Pick up the plastic soda bottle with the left arm and shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Grab 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 bottle with red screw cap and give it a shake.",
+    "Use the left arm to pick the bottle with red screw cap.",
+    "Use the left arm to grab the bottle with red screw cap and shake.",
+    "Pick up the bottle with red screw cap with the left arm and shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Pick and shake the the bottle with red screw cap with the left arm.",
+    "Grab 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 bottle with red screw cap.",
+    "Use the left arm to grab the plastic soda bottle and shake.",
+    "Pick up the bottle with red screw cap with the left arm and shake.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Pick and shake the the bottle with red screw cap with the left arm.",
+    "Grab the plastic soda bottle 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 brown bottle.",
+    "Use the left arm to grab the plastic soda bottle and shake.",
+    "Pick up the brown bottle with the left arm and shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Grab 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.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Pick up the plastic soda bottle with the left arm and shake.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Grab the brown 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 plastic soda bottle.",
+    "Use the left arm to grab the plastic soda bottle and shake.",
+    "Pick up the brown bottle with the left arm and shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004000.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004000.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d38e11ce18fd2f63fbd4285ccfe6077c5ab4a92
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004000.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the yellow bottle after grabbing it.",
+    "Use the right arm to hold the bottle with white cap and shake it.",
+    "Secure the medium rectangular yellow bottle, shake it, and place it down.",
+    "Grab the smooth bottle with rounded edges and shake it steadily.",
+    "Shake the bottle with green label after holding it firmly.",
+    "Shake the yellow plastic bottle with white top after grabbing it.",
+    "Shake the smooth bottle with rounded edges firmly after grabbing.",
+    "Grab and shake the bottle with a smooth plastic body using the right arm.",
+    "Lift the yellow plastic bottle with white top with the right arm and shake.",
+    "Lift the medium rectangular yellow bottle with the right arm and shake it.",
+    "Hold and shake the the yellow bottle carefully.",
+    "Using the right arm, shake the yellow container with rounded edges and then place it back.",
+    "Lift the bottle with white cap and shake it thoroughly.",
+    "Hold the medium rectangular yellow bottle steady, then shake it.",
+    "Pick the bottle with green and white labels, shake it with the right arm.",
+    "Pick the yellow plastic bottle with white top and perform shaking motion.",
+    "Utilize the right arm to hold the yellow bottle with a green design and shake it.",
+    "Take the bottle with a smooth plastic body using the right arm and give it a shake.",
+    "Shake the yellow bottle with a green design after grabbing it.",
+    "Shake the the yellow bottle properly after lifting.",
+    "With the right arm, pick the medium rectangular yellow bottle and shake properly.",
+    "Hold the yellow plastic bottle with white top and shake it properly.",
+    "Lift the bottle with green and white labels and shake it gently.",
+    "Pick the yellow bottle with a green design up using the right arm and shake it.",
+    "Grab the yellow container with rounded edges using the right arm, then shake.",
+    "Shake the bottle with green and white labels using the right arm after grabbing.",
+    "Pick up the bottle with green and white labels and shake it.",
+    "Use the right arm to grab the bottle with green and white labels and shake it.",
+    "Use the right arm to lift and shake the yellow bottle with a green design.",
+    "Grab the bottle with white cap with the right arm and shake.",
+    "Use the right arm to lift and shake the bottle with white cap.",
+    "Hold the plastic bottle, shake it briefly.",
+    "Lift up the medium rectangular yellow bottle using the right arm, then shake.",
+    "Grab the bottle with green and white labels and give it a shake.",
+    "Grab the smooth bottle with rounded edges and move it to shake.",
+    "Use the right arm to grab the bottle with green and white labels and shake properly.",
+    "Pick up the smooth bottle with rounded edges and shake it well.",
+    "Grab the yellow bottle firmly, shake it, and put it down.",
+    "Grab the plastic bottle carefully and shake.",
+    "Shake the bottle with green label thoroughly after grabbing it.",
+    "Grasp the medium rectangular yellow bottle with the right arm and shake it.",
+    "Catch the yellow bottle and shake it instantly.",
+    "Hold the bottle with green label with the right arm and shake lightly.",
+    "Grip the bottle with green and white labels using the right arm and shake.",
+    "Use the right arm to lift and shake the bottle with green label.",
+    "Pick the smooth bottle 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 plastic bottle after lifting it.",
+    "Secure the bottle with white cap and perform a shake.",
+    "Lift the yellow plastic bottle with white top with the right arm and give it a shake.",
+    "Shake the smooth bottle with rounded edges after grabbing it.",
+    "Use the right arm to hold the yellow plastic bottle with white top and shake it.",
+    "Secure the medium rectangular yellow bottle, shake it, and place it down.",
+    "Grab the bottle with green and white labels and shake it steadily.",
+    "Shake the rectangular bottle with cylindrical neck after holding it firmly.",
+    "Shake the yellow bottle after grabbing it.",
+    "Shake the bottle with green and white labels firmly after grabbing.",
+    "Grab and shake the bottle with white cap using the right arm.",
+    "Lift the yellow bottle with the right arm and shake.",
+    "Lift the bottle with a smooth plastic body with the right arm and shake it.",
+    "Hold and shake the the yellow container with rounded edges carefully.",
+    "Using the right arm, shake the yellow plastic bottle with white top and then place it back.",
+    "Lift the bottle with green label and shake it thoroughly.",
+    "Hold the bottle with a smooth plastic body steady, then shake it.",
+    "Pick the bottle with white cap, shake it with the right arm.",
+    "Pick the bottle with green and white labels and perform shaking motion.",
+    "Utilize the right arm to hold the rectangular bottle with cylindrical neck and shake it.",
+    "Take the yellow bottle with a green design using the right arm and give it a shake.",
+    "Shake the yellow container with rounded edges after grabbing it.",
+    "Shake the the bottle with a smooth plastic body properly after lifting.",
+    "With the right arm, pick the yellow bottle and shake properly.",
+    "Hold the bottle with green label and shake it properly.",
+    "Lift the yellow container with rounded edges and shake it gently.",
+    "Pick the bottle with green and white labels up using the right arm and shake it.",
+    "Grab the yellow plastic bottle with white top using the right arm, then shake.",
+    "Shake the yellow container with rounded edges using the right arm after grabbing.",
+    "Pick up the plastic bottle and shake it.",
+    "Use the right arm to grab the smooth bottle with rounded edges and shake it.",
+    "Use the right arm to lift and shake the medium rectangular yellow bottle.",
+    "Grab the yellow plastic bottle with white top with the right arm and shake.",
+    "Use the right arm to lift and shake the medium rectangular yellow bottle.",
+    "Hold the medium rectangular yellow bottle, shake it briefly.",
+    "Lift up the bottle with green and white labels using the right arm, then shake.",
+    "Grab the bottle with green and white labels and give it a shake.",
+    "Grab the smooth bottle with rounded edges and move it to shake.",
+    "Use the right arm to grab the yellow bottle with a green design and shake properly.",
+    "Pick up the yellow plastic bottle with white top and shake it well.",
+    "Grab the rectangular bottle with cylindrical neck firmly, shake it, and put it down.",
+    "Grab the plastic bottle carefully and shake.",
+    "Shake the rectangular bottle with cylindrical neck thoroughly after grabbing it.",
+    "Grasp the bottle with a smooth plastic body with the right arm and shake it.",
+    "Catch the bottle with a smooth plastic body and shake it instantly.",
+    "Hold the bottle with white cap with the right arm and shake lightly.",
+    "Grip the yellow container with rounded edges using the right arm and shake.",
+    "Use the right arm to lift and shake the yellow container with rounded edges.",
+    "Pick the medium rectangular 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 yellow bottle after lifting it.",
+    "Secure the yellow bottle and perform a shake.",
+    "Lift the medium rectangular yellow bottle with the right arm and give it a shake."
+  ],
+  "unseen": [
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Shake the yellow bottle for liquid storage after picking it with the right arm.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "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.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick and shake the the yellow rectangular bottle with the right arm.",
+    "Shake the yellow rectangular bottle after picking it with the right arm.",
+    "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, shake it properly, then set it down.",
+    "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.",
+    "Pick up the yellow bottle for liquid storage with the right arm 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.",
+    "Shake the yellow bottle for liquid storage after picking it with the right arm.",
+    "Use the right arm to pick the yellow bottle for liquid storage.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "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.",
+    "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 hand-sized yellow plastic bottle and shake it.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "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 rectangular bottle, shake it properly, then set it down.",
+    "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 yellow rectangular bottle and shake.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Shake the yellow rectangular bottle after picking it with the right arm.",
+    "Use the right arm to pick the hand-sized yellow plastic bottle.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "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.",
+    "Pick up the yellow rectangular bottle with the right arm and shake.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick and shake the the yellow rectangular bottle with the right arm.",
+    "Shake the yellow rectangular bottle after picking it with the right arm.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "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.",
+    "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 yellow rectangular bottle with the right arm 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.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "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.",
+    "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 and shake it.",
+    "Pick and shake the the yellow bottle for liquid storage with the right arm.",
+    "Shake the yellow bottle for liquid storage after picking it with the right arm.",
+    "Use the right arm to pick the hand-sized yellow plastic bottle.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "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.",
+    "Pick up the yellow bottle for liquid storage with the right arm and shake.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick and shake the the yellow rectangular bottle with the right arm.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "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, shake it properly, then set it down.",
+    "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.",
+    "Pick up the yellow bottle for liquid storage with the right arm and shake.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick and shake the the yellow bottle for liquid storage with the right arm.",
+    "Shake the yellow rectangular bottle after picking it with the right arm.",
+    "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, shake it properly, then set it down.",
+    "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 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 and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004122.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004122.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b4331103ff35031328128d65953e9337579474b
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004122.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grasp the light and medium-sized bottle with the left arm and shake it.",
+    "Take the light and medium-sized bottle using the left arm and give it a shake.",
+    "Grab the curved orange soda bottle and give it a shake.",
+    "Lift the ridged orange bottle with grooves with the left arm and shake.",
+    "Pick the bottle for holding drinks, shake it with the left arm.",
+    "Grab the orange drink bottle with label carefully and shake.",
+    "Grab and shake the grooved orange drink bottle using the left arm.",
+    "Secure the orange bottle, shake it, and place it down.",
+    "Grab the round-bottom bottle with white cap with the left arm and shake.",
+    "Shake the bottle for holding drinks firmly after grabbing.",
+    "Lift the ridged orange bottle with grooves with the left arm and give it a shake.",
+    "Lift the grooved orange drink bottle with the left arm and shake it.",
+    "Grab the orange bottle using the left arm, then shake.",
+    "Using the left arm, shake the plastic bottle and then place it back.",
+    "Lift up the orange bottle using the left arm, then shake.",
+    "Use the left arm to grab the curved orange soda bottle and shake properly.",
+    "Use the left arm to lift and shake the orange bottle.",
+    "Grab the ridged orange bottle with grooves and move it to shake.",
+    "Use the left arm to lift and shake the orange bottle.",
+    "Use the left arm to lift and shake the plastic bottle.",
+    "Grip the smooth orange bottle using the left arm and shake.",
+    "Hold the plastic bottle, shake it briefly.",
+    "Shake the curved orange soda bottle using the left arm after grabbing.",
+    "Pick up the curved orange soda bottle and shake it.",
+    "Pick the bottle for holding drinks up using the left arm and shake it.",
+    "Catch the curved orange soda bottle and shake it instantly.",
+    "Shake the grooved orange drink bottle thoroughly after grabbing it.",
+    "Use the left arm to grab the ridged orange bottle with grooves and shake it.",
+    "Grab the light and medium-sized bottle firmly, shake it, and put it down.",
+    "Hold the orange drink bottle with label steady, then shake it.",
+    "Use the left arm to hold the ridged orange bottle with grooves and shake it.",
+    "Shake the plastic bottle after grabbing it.",
+    "Lift the plastic bottle and shake it gently.",
+    "Utilize the left arm to hold the medium bottle with colorful label and shake it.",
+    "Lift the cylindrical orange plastic bottle and shake it thoroughly.",
+    "Shake the medium bottle with colorful label after grabbing it.",
+    "Shake the smooth orange bottle after holding it firmly.",
+    "Grab the smooth orange bottle and shake it steadily.",
+    "Pick up the ridged orange bottle with grooves and shake it well.",
+    "Use the left arm to pick and shake the cylindrical orange plastic bottle.",
+    "Hold the plastic bottle and shake it properly.",
+    "With the left arm, pick the bottle for holding drinks and shake properly.",
+    "Shake the orange drink bottle with label after grabbing it.",
+    "Shake the the curved orange soda bottle properly after lifting.",
+    "Shake the bottle for holding drinks after lifting it.",
+    "Pick the plastic bottle and perform shaking motion.",
+    "Pick the round-bottom bottle with white cap up with the left arm and shake.",
+    "Hold and shake the the medium bottle with colorful label carefully.",
+    "Secure the bottle for holding drinks and perform a shake.",
+    "Hold the round-bottom bottle with white cap with the left arm and shake lightly.",
+    "Grasp the medium bottle with colorful label with the left arm and shake it.",
+    "Take the curved orange soda bottle using the left arm and give it a shake.",
+    "Grab the grooved orange drink bottle and give it a shake.",
+    "Lift the bottle for holding drinks with the left arm and shake.",
+    "Pick the orange drink bottle with label, shake it with the left arm.",
+    "Grab the orange drink bottle with label carefully and shake.",
+    "Grab and shake the plastic bottle using the left arm.",
+    "Secure the plastic bottle, shake it, and place it down.",
+    "Grab the round-bottom bottle with white cap with the left arm and shake.",
+    "Shake the round-bottom bottle with white cap firmly after grabbing.",
+    "Lift the smooth orange bottle with the left arm and give it a shake.",
+    "Lift the grooved orange drink bottle with the left arm and shake it.",
+    "Grab the cylindrical orange plastic bottle using the left arm, then shake.",
+    "Using the left arm, shake the round-bottom bottle with white cap and then place it back.",
+    "Lift up the cylindrical orange plastic bottle using the left arm, then shake.",
+    "Use the left arm to grab the cylindrical orange plastic bottle and shake properly.",
+    "Use the left arm to lift and shake the cylindrical orange plastic bottle.",
+    "Grab the round-bottom bottle with white cap and move it to shake.",
+    "Use the left arm to lift and shake the cylindrical orange plastic bottle.",
+    "Use the left arm to lift and shake the plastic bottle.",
+    "Grip the bottle for holding drinks using the left arm and shake.",
+    "Hold the cylindrical orange plastic bottle, shake it briefly.",
+    "Shake the orange bottle using the left arm after grabbing.",
+    "Pick up the plastic bottle and shake it.",
+    "Pick the light and medium-sized bottle up using the left arm and shake it.",
+    "Catch the orange drink bottle with label and shake it instantly.",
+    "Shake the smooth orange bottle thoroughly after grabbing it.",
+    "Use the left arm to grab the round-bottom bottle with white cap and shake it.",
+    "Grab the smooth orange bottle firmly, shake it, and put it down.",
+    "Hold the ridged orange bottle with grooves steady, then shake it.",
+    "Use the left arm to hold the orange bottle and shake it.",
+    "Shake the ridged orange bottle with grooves after grabbing it.",
+    "Lift the plastic bottle and shake it gently.",
+    "Utilize the left arm to hold the ridged orange bottle with grooves and shake it.",
+    "Lift the smooth orange bottle and shake it thoroughly.",
+    "Shake the ridged orange bottle with grooves after grabbing it.",
+    "Shake the ridged orange bottle with grooves after holding it firmly.",
+    "Grab the orange drink bottle with label and shake it steadily.",
+    "Pick up the smooth orange bottle and shake it well.",
+    "Use the left arm to pick and shake the light and medium-sized bottle.",
+    "Hold the ridged orange bottle with grooves and shake it properly.",
+    "With the left arm, pick the curved orange soda bottle and shake properly.",
+    "Shake the ridged orange bottle with grooves after grabbing it.",
+    "Shake the the medium bottle with colorful label properly after lifting.",
+    "Shake the smooth orange bottle after lifting it.",
+    "Pick the grooved orange drink bottle and perform shaking motion.",
+    "Pick the round-bottom bottle with white cap up with the left arm and shake.",
+    "Hold and shake the the cylindrical orange plastic bottle carefully.",
+    "Secure the round-bottom bottle with white cap and perform a shake.",
+    "Hold the ridged orange bottle with grooves with the left arm and shake lightly."
+  ],
+  "unseen": [
+    "Pick up the bottle with white cap with the left arm and shake.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the bottle with white cap and shake it.",
+    "Shake the white capped orange plastic bottle after picking it with the left arm.",
+    "Use the left arm to pick the bottle with ridged orange grip.",
+    "Use the left arm to grab the bottle with ridged orange grip and shake.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Pick and shake the the bottle with white cap with the left arm.",
+    "Pick up the bottle with ridged orange grip with the left arm and shake.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Shake the white capped orange plastic bottle after picking it with the left arm.",
+    "Use the left arm to pick the bottle with white cap.",
+    "Use the left arm to grab the bottle with white cap and shake.",
+    "Pick up the bottle with white cap and shake it.",
+    "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 left arm.",
+    "Pick up the white capped orange plastic bottle with the left arm and shake.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Shake the bottle with ridged orange grip after picking it with the left arm.",
+    "Use the left arm to pick the bottle with ridged orange grip.",
+    "Use the left arm to grab the bottle with ridged orange grip and shake.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "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 left arm.",
+    "Pick up the white capped orange plastic bottle with the left arm and shake.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Shake the bottle with ridged orange grip after picking it with the left arm.",
+    "Use the left arm to pick the bottle with ridged orange grip.",
+    "Use the left arm to grab the bottle with ridged orange grip and shake.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Pick and shake the the bottle with white cap with the left arm.",
+    "Pick up the bottle with ridged orange grip with the left arm and shake.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Grab the bottle with white cap and shake it.",
+    "Shake the bottle with ridged orange grip after picking it with the left arm.",
+    "Use the left arm to pick the white capped orange plastic bottle.",
+    "Use the left arm to grab the bottle with ridged orange grip and shake.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Pick and shake the the bottle with white cap with the left arm.",
+    "Pick up the white capped orange plastic bottle with the left arm and shake.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Shake the bottle with ridged orange grip after picking it with the left arm.",
+    "Use the left arm to pick the white capped orange plastic bottle.",
+    "Use the left arm to grab the bottle with white cap and shake.",
+    "Pick up the bottle with white cap and shake it.",
+    "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 left arm.",
+    "Pick up the white capped orange plastic bottle with the left arm and shake.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Shake the bottle with white cap after picking it with the left arm.",
+    "Use the left arm to pick the bottle with ridged orange grip.",
+    "Use the left arm to grab the bottle with ridged orange grip and shake.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Pick and shake the the white capped orange plastic bottle with the left arm.",
+    "Pick up the bottle with white cap with the left arm and shake.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Shake the bottle with white cap after picking it with the left arm.",
+    "Use the left arm to pick the bottle with white cap.",
+    "Use the left arm to grab the bottle with ridged orange grip and shake.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "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 left arm.",
+    "Pick up the bottle with white cap with the left arm and shake.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Shake the white capped orange plastic bottle after picking it with the left arm.",
+    "Use the left arm to pick the bottle with white cap.",
+    "Use the left arm to grab the bottle with white cap and shake.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "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 left arm.",
+    "Pick up the bottle with white cap with the left arm and shake.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Grab the bottle with white cap and shake it.",
+    "Shake the bottle with ridged orange grip after picking it with the left arm.",
+    "Use the left arm to pick the bottle with ridged orange grip.",
+    "Use the left arm to grab the white capped orange plastic bottle and shake.",
+    "Pick up the bottle with white cap and shake it.",
+    "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 left arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004209.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004209.json
new file mode 100644
index 0000000000000000000000000000000000000000..360f09cf93df7c7d692e86f2023fe8a046e89897
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004209.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to lift and shake the plastic bottle.",
+    "Use the left arm to pick and shake the yellow-capped plastic bottle.",
+    "Hold the bottle with narrow neck, shake it briefly.",
+    "Shake the cylindrical orange bottle with yellow top after grabbing it.",
+    "Utilize the left arm to hold the bottle with yellow cap and shake it.",
+    "Catch the smooth plastic bottle and shake it instantly.",
+    "Shake the the plastic bottle with sealed yellow cap properly after lifting.",
+    "Pick up the smooth plastic bottle and shake it.",
+    "Shake the bottle with yellow cap after grabbing it.",
+    "Shake the orange bottle after holding it firmly.",
+    "Grab the yellow-capped plastic bottle and move it to shake.",
+    "Shake the orange bottle after lifting it.",
+    "Use the left arm to lift and shake the medium-sized orange bottle.",
+    "Lift the medium-sized orange bottle with the left arm and give it a shake.",
+    "Pick up the orange cylindrical bottle and shake it well.",
+    "Grab the plastic bottle with the left arm and shake.",
+    "Grab and shake the bottle for liquids using the left arm.",
+    "Lift up the bottle with narrow neck using the left arm, then shake.",
+    "Lift the cylindrical orange bottle with yellow top and shake it thoroughly.",
+    "Pick the orange bottle up using the left arm and shake it.",
+    "Hold and shake the the cylindrical orange bottle with yellow top carefully.",
+    "Grasp the smooth plastic bottle with the left arm and shake it.",
+    "Shake the plastic bottle after grabbing it.",
+    "Grab the smooth plastic bottle and give it a shake.",
+    "Hold the bottle with yellow cap steady, then shake it.",
+    "Grab the bottle with yellow cap firmly, shake it, and put it down.",
+    "Grab the orange cylindrical bottle using the left arm, then shake.",
+    "Use the left arm to lift and shake the bottle with yellow cap.",
+    "Grab the yellow-capped plastic bottle and shake it steadily.",
+    "Use the left arm to grab the yellow-capped plastic bottle and shake properly.",
+    "Pick the medium-sized orange bottle, shake it with the left arm.",
+    "With the left arm, pick the bottle with narrow neck and shake properly.",
+    "Secure the bottle with narrow neck and perform a shake.",
+    "Lift the bottle with yellow cap with the left arm and shake it.",
+    "Secure the orange cylindrical bottle, shake it, and place it down.",
+    "Hold the bottle with printed label and shake it properly.",
+    "Lift the bottle for liquids and shake it gently.",
+    "Using the left arm, shake the orange cylindrical bottle and then place it back.",
+    "Grab the yellow-capped plastic bottle carefully and shake.",
+    "Shake the medium-sized orange bottle using the left arm after grabbing.",
+    "Take the orange cylindrical bottle using the left arm and give it a shake.",
+    "Pick the cylindrical orange bottle with yellow top and perform shaking motion.",
+    "Hold the bottle with yellow cap with the left arm and shake lightly.",
+    "Use the left arm to grab the orange bottle and shake it.",
+    "Lift the bottle with narrow neck with the left arm and shake.",
+    "Use the left arm to hold the plastic bottle with sealed yellow cap and shake it.",
+    "Shake the bottle for liquids firmly after grabbing.",
+    "Shake the medium-sized orange bottle thoroughly after grabbing it.",
+    "Pick the orange cylindrical bottle up with the left arm and shake.",
+    "Grip the bottle with yellow cap using the left arm and shake.",
+    "Use the left arm to lift and shake the yellow-capped plastic bottle.",
+    "Use the left arm to pick and shake the orange bottle.",
+    "Hold the plastic bottle, shake it briefly.",
+    "Shake the bottle for liquids after grabbing it.",
+    "Utilize the left arm to hold the smooth plastic bottle and shake it.",
+    "Catch the cylindrical orange bottle with yellow top and shake it instantly.",
+    "Shake the the cylindrical orange bottle with yellow top properly after lifting.",
+    "Pick up the orange bottle and shake it.",
+    "Shake the bottle for liquids after grabbing it.",
+    "Shake the smooth plastic bottle after holding it firmly.",
+    "Grab the plastic bottle and move it to shake.",
+    "Shake the bottle for liquids after lifting it.",
+    "Use the left arm to lift and shake the plastic bottle with sealed yellow cap.",
+    "Lift the cylindrical orange bottle with yellow top with the left arm and give it a shake.",
+    "Pick up the medium-sized orange bottle and shake it well.",
+    "Grab the smooth plastic bottle with the left arm and shake.",
+    "Grab and shake the plastic bottle with sealed yellow cap using the left arm.",
+    "Lift up the medium-sized orange bottle using the left arm, then shake.",
+    "Lift the bottle for liquids and shake it thoroughly.",
+    "Pick the bottle with narrow neck up using the left arm and shake it.",
+    "Hold and shake the the smooth plastic bottle carefully.",
+    "Grasp the smooth plastic bottle with the left arm and shake it.",
+    "Shake the cylindrical orange bottle with yellow top after grabbing it.",
+    "Grab the bottle with yellow cap and give it a shake.",
+    "Hold the orange bottle steady, then shake it.",
+    "Grab the bottle with narrow neck firmly, shake it, and put it down.",
+    "Grab the cylindrical orange bottle with yellow top using the left arm, then shake.",
+    "Use the left arm to lift and shake the plastic bottle with sealed yellow cap.",
+    "Grab the cylindrical orange bottle with yellow top and shake it steadily.",
+    "Use the left arm to grab the plastic bottle and shake properly.",
+    "Pick the orange cylindrical bottle, shake it with the left arm.",
+    "With the left arm, pick the bottle with narrow neck and shake properly.",
+    "Secure the bottle with printed label and perform a shake.",
+    "Lift the plastic bottle with sealed yellow cap with the left arm and shake it.",
+    "Secure the yellow-capped plastic bottle, shake it, and place it down.",
+    "Hold the plastic bottle with sealed yellow cap and shake it properly.",
+    "Lift the plastic bottle and shake it gently.",
+    "Using the left arm, shake the yellow-capped plastic bottle and then place it back.",
+    "Grab the bottle with printed label carefully and shake.",
+    "Shake the orange cylindrical bottle using the left arm after grabbing.",
+    "Take the orange bottle using the left arm and give it a shake.",
+    "Pick the yellow-capped plastic bottle and perform shaking motion.",
+    "Hold the cylindrical orange bottle with yellow top with the left arm and shake lightly.",
+    "Use the left arm to grab the cylindrical orange bottle with yellow top and shake it.",
+    "Lift the yellow-capped plastic bottle with the left arm and shake.",
+    "Use the left arm to hold the cylindrical orange bottle with yellow top and shake it.",
+    "Shake the plastic bottle firmly after grabbing.",
+    "Shake the plastic bottle with sealed yellow cap thoroughly after grabbing it.",
+    "Pick the cylindrical orange bottle with yellow top up with the left arm and shake.",
+    "Grip the smooth plastic bottle using the left arm and shake."
+  ],
+  "unseen": [
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "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.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Grab the handheld orange bottle and shake it.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Grab the handheld orange bottle and shake it.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Grab the handheld orange bottle and shake it.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "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.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Grab the handheld orange bottle and shake it.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004302.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004302.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d54ed0098f49dde519c7f49a4320188a25ae84e
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004302.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab and shake the medium rectangular yellow bottle using the right arm.",
+    "Grab the yellow plastic bottle with white top and shake it steadily.",
+    "Hold the plastic bottle, shake it briefly.",
+    "Shake the plastic bottle after holding it firmly.",
+    "Grab the rectangular bottle with cylindrical neck and give it a shake.",
+    "Use the right arm to grab the yellow bottle with a green design and shake properly.",
+    "Shake the smooth bottle with rounded edges after lifting it.",
+    "Grab the plastic bottle carefully and shake.",
+    "Pick the bottle with white cap up with the right arm and shake.",
+    "Pick the bottle with green and white labels up using the right arm and shake it.",
+    "Secure the bottle with green label, shake it, and place it down.",
+    "Lift the plastic bottle and shake it gently.",
+    "Pick up the yellow plastic bottle with white top and shake it.",
+    "Hold the bottle with green label with the right arm and shake lightly.",
+    "Take the smooth bottle with rounded edges using the right arm and give it a shake.",
+    "Shake the yellow bottle with a green design firmly after grabbing.",
+    "Use the right arm to pick and shake the yellow bottle.",
+    "Use the right arm to lift and shake the medium rectangular yellow bottle.",
+    "Grab the yellow container with rounded edges using the right arm, then shake.",
+    "Shake the bottle with green and white labels after grabbing it.",
+    "Use the right arm to hold the bottle with green label and shake it.",
+    "Shake the plastic bottle after grabbing it.",
+    "Hold and shake the the plastic bottle carefully.",
+    "Hold the smooth bottle with rounded edges and shake it properly.",
+    "With the right arm, pick the medium rectangular yellow bottle and shake properly.",
+    "Hold the bottle with green and white labels steady, then shake it.",
+    "Using the right arm, shake the yellow bottle and then place it back.",
+    "Grab the bottle with a smooth plastic body and move it to shake.",
+    "Secure the yellow bottle with a green design and perform a shake.",
+    "Lift the bottle with a smooth plastic body with the right arm and shake it.",
+    "Grip the medium rectangular yellow bottle using the right arm and shake.",
+    "Shake the the yellow bottle properly after lifting.",
+    "Pick up the rectangular bottle with cylindrical neck and shake it well.",
+    "Grab the yellow plastic bottle with white top firmly, shake it, and put it down.",
+    "Pick the bottle with green label, shake it with the right arm.",
+    "Lift the rectangular bottle with cylindrical neck with the right arm and give it a shake.",
+    "Utilize the right arm to hold the bottle with white cap and shake it.",
+    "Shake the smooth bottle with rounded edges thoroughly after grabbing it.",
+    "Shake the bottle with green label after grabbing it.",
+    "Lift up the yellow container with rounded edges using the right arm, then shake.",
+    "Catch the bottle with a smooth plastic body and shake it instantly.",
+    "Shake the yellow bottle with a green design using the right arm after grabbing.",
+    "Lift the bottle with white cap with the right arm and shake.",
+    "Use the right arm to grab the bottle with a smooth plastic body and shake it.",
+    "Grab the bottle with a smooth plastic body with the right arm and shake.",
+    "Lift the medium rectangular yellow bottle and shake it thoroughly.",
+    "Pick the medium rectangular yellow bottle and perform shaking motion.",
+    "Use the right arm to lift and shake the yellow bottle.",
+    "Use the right arm to lift and shake the bottle with a smooth plastic body.",
+    "Grasp the bottle with green label with the right arm and shake it.",
+    "Grab and shake the yellow bottle using the right arm.",
+    "Grab the yellow container with rounded edges and shake it steadily.",
+    "Hold the smooth bottle with rounded edges, shake it briefly.",
+    "Shake the yellow container with rounded edges after holding it firmly.",
+    "Grab the medium rectangular yellow bottle and give it a shake.",
+    "Use the right arm to grab the smooth bottle with rounded edges and shake properly.",
+    "Shake the yellow bottle with a green design after lifting it.",
+    "Grab the yellow bottle carefully and shake.",
+    "Pick the bottle with a smooth plastic body up with the right arm and shake.",
+    "Pick the yellow container with rounded edges up using the right arm and shake it.",
+    "Secure the bottle with green label, shake it, and place it down.",
+    "Lift the rectangular bottle with cylindrical neck and shake it gently.",
+    "Pick up the bottle with a smooth plastic body and shake it.",
+    "Hold the plastic bottle with the right arm and shake lightly.",
+    "Take the plastic bottle using the right arm and give it a shake.",
+    "Shake the bottle with green label firmly after grabbing.",
+    "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.",
+    "Grab the bottle with green label using the right arm, then shake.",
+    "Shake the smooth bottle with rounded edges after grabbing it.",
+    "Use the right arm to hold the bottle with green label and shake it.",
+    "Shake the yellow bottle after grabbing it.",
+    "Hold and shake the the medium rectangular yellow bottle carefully.",
+    "Hold the bottle with a smooth plastic body and shake it properly.",
+    "With the right arm, pick the yellow bottle with a green design and shake properly.",
+    "Hold the rectangular bottle with cylindrical neck steady, then shake it.",
+    "Using the right arm, shake the bottle with green label and then place it back.",
+    "Grab the yellow plastic bottle with white top and move it to shake.",
+    "Secure the smooth bottle with rounded edges and perform a shake.",
+    "Lift the rectangular bottle with cylindrical neck with the right arm and shake it.",
+    "Grip the yellow bottle using the right arm and shake.",
+    "Shake the the bottle with white cap properly after lifting.",
+    "Pick up the medium rectangular yellow bottle and shake it well.",
+    "Grab the yellow plastic bottle with white top firmly, shake it, and put it down.",
+    "Pick the bottle with green and white labels, shake it with the right arm.",
+    "Lift the bottle with white cap with the right arm and give it a shake.",
+    "Utilize the right arm to hold the yellow bottle and shake it.",
+    "Shake the bottle with green and white labels thoroughly after grabbing it.",
+    "Shake the plastic bottle after grabbing it.",
+    "Lift up the rectangular bottle with cylindrical neck using the right arm, then shake.",
+    "Catch the rectangular bottle with cylindrical neck and shake it instantly.",
+    "Shake the plastic bottle using the right arm after grabbing.",
+    "Lift the bottle with green label with the right arm and shake.",
+    "Use the right arm to grab the bottle with white cap and shake it.",
+    "Grab the yellow container with rounded edges with the right arm and shake.",
+    "Lift the bottle with a smooth plastic body and shake it thoroughly.",
+    "Pick the medium rectangular yellow bottle and perform shaking motion.",
+    "Use the right arm to lift and shake the bottle with white cap.",
+    "Use the right arm to lift and shake the medium rectangular yellow bottle.",
+    "Grasp the plastic bottle with the right arm and shake it."
+  ],
+  "unseen": [
+    "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.",
+    "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.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Use the right arm to grab the yellow rectangular bottle and shake.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "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 hand-sized yellow plastic bottle after picking it with the right arm.",
+    "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.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the right arm to pick the hand-sized yellow plastic bottle.",
+    "Use the right arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the yellow bottle for liquid storage with the right arm and shake.",
+    "Grab the yellow rectangular 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 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.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the right arm to pick the hand-sized yellow plastic bottle.",
+    "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 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 rectangular bottle after picking it with the right arm.",
+    "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.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "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 yellow bottle for liquid storage after picking it with the right arm.",
+    "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.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the right arm to pick the yellow bottle for liquid storage.",
+    "Use the right arm to grab the yellow rectangular bottle and shake.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the yellow rectangular bottle 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 hand-sized yellow plastic bottle and shake it.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the right arm to pick the hand-sized yellow plastic bottle.",
+    "Use the right arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick up the yellow rectangular bottle 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 hand-sized yellow plastic bottle and shake it.",
+    "Pick and shake the the yellow rectangular bottle with the right arm.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the right arm to pick the yellow bottle for liquid storage.",
+    "Use the right arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "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 hand-sized yellow plastic bottle after picking it with the right arm.",
+    "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.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "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 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 rectangular bottle after picking it with the right arm.",
+    "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 bottle for liquid storage and give it a shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the right arm to pick the hand-sized yellow plastic bottle.",
+    "Use the right arm to grab the yellow rectangular bottle and shake.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the yellow bottle for liquid storage 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.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Use the right arm to grab the yellow rectangular bottle and shake.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "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."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004338.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004338.json
new file mode 100644
index 0000000000000000000000000000000000000000..e511e44a15ce5e586af75b99a67f10a9b082d4cf
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004338.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the cylindrical bottle and shake it well.",
+    "Grab the cylindrical bottle and shake it steadily.",
+    "Lift the cylindrical bottle with the right arm and give it a shake.",
+    "Grab and shake the bottle for liquids using the right arm.",
+    "Grab the handheld bottle and give it a shake.",
+    "Shake the the white bottle with blue accents properly after lifting.",
+    "Take the bottle for liquids using the right arm and give it a shake.",
+    "Using the right arm, shake the plastic bottle and then place it back.",
+    "Shake the bottle for liquids after grabbing it.",
+    "Hold the blue bottle with label steady, then shake it.",
+    "Pick the bottle with blue cap up using the right arm and shake it.",
+    "Grab the blue bottle with label using the right arm, then shake.",
+    "Catch the white bottle with blue accents and shake it instantly.",
+    "Grip the white and blue bottle using the right arm and shake.",
+    "With the right arm, pick the blue bottle and shake properly.",
+    "Secure the bottle for liquids and perform a shake.",
+    "Shake the white and blue bottle thoroughly after grabbing it.",
+    "Shake the smooth plastic bottle after holding it firmly.",
+    "Grasp the blue bottle with the right arm and shake it.",
+    "Pick the white and blue bottle and perform shaking motion.",
+    "Use the right arm to lift and shake the smooth plastic bottle.",
+    "Hold the cylindrical bottle, shake it briefly.",
+    "Use the right arm to lift and shake the blue bottle with label.",
+    "Lift the white and blue bottle and shake it thoroughly.",
+    "Pick up the bottle for liquids and shake it.",
+    "Shake the blue bottle using the right arm after grabbing.",
+    "Grab the blue bottle with label carefully and shake.",
+    "Secure the blue bottle, shake it, and place it down.",
+    "Shake the smooth plastic bottle after grabbing it.",
+    "Grab the bottle for liquids firmly, shake it, and put it down.",
+    "Pick the bottle for liquids up with the right arm and shake.",
+    "Hold the cylindrical bottle and shake it properly.",
+    "Lift up the medium bottle for beverages using the right arm, then shake.",
+    "Lift the handheld bottle and shake it gently.",
+    "Hold and shake the the white bottle with blue accents carefully.",
+    "Pick the smooth plastic bottle, shake it with the right arm.",
+    "Use the right arm to hold the medium bottle for beverages and shake it.",
+    "Lift the medium bottle for beverages with the right arm and shake it.",
+    "Hold the white bottle with blue accents with the right arm and shake lightly.",
+    "Use the right arm to grab the white and blue bottle and shake properly.",
+    "Use the right arm to grab the bottle for liquids and shake it.",
+    "Shake the plastic bottle firmly after grabbing.",
+    "Shake the plastic bottle after grabbing it.",
+    "Use the right arm to pick and shake the smooth plastic bottle.",
+    "Lift the cylindrical bottle with the right arm and shake.",
+    "Shake the plastic bottle after lifting it.",
+    "Use the right arm to lift and shake the blue bottle.",
+    "Grab the blue bottle and move it to shake.",
+    "Utilize the right arm to hold the smooth plastic bottle and shake it.",
+    "Grab the cylindrical bottle with the right arm and shake.",
+    "Pick up the white bottle with blue accents and shake it well.",
+    "Grab the medium-sized bottle and shake it steadily.",
+    "Lift the cylindrical bottle with the right arm and give it a shake.",
+    "Grab and shake the blue bottle with label using the right arm.",
+    "Grab the bottle for liquids and give it a shake.",
+    "Shake the the blue bottle properly after lifting.",
+    "Take the cylindrical bottle using the right arm and give it a shake.",
+    "Using the right arm, shake the bottle for liquids and then place it back.",
+    "Shake the plastic bottle after grabbing it.",
+    "Hold the bottle with blue cap steady, then shake it.",
+    "Pick the cylindrical bottle up using the right arm and shake it.",
+    "Grab the white and blue bottle using the right arm, then shake.",
+    "Catch the handheld bottle and shake it instantly.",
+    "Grip the blue bottle using the right arm and shake.",
+    "With the right arm, pick the bottle for liquids and shake properly.",
+    "Secure the medium bottle for beverages and perform a shake.",
+    "Shake the blue bottle thoroughly after grabbing it.",
+    "Shake the handheld bottle after holding it firmly.",
+    "Grasp the bottle for liquids with the right arm and shake it.",
+    "Pick the bottle with blue cap and perform shaking motion.",
+    "Use the right arm to lift and shake the white and blue bottle.",
+    "Hold the bottle for liquids, shake it briefly.",
+    "Use the right arm to lift and shake the cylindrical bottle.",
+    "Lift the bottle for liquids and shake it thoroughly.",
+    "Pick up the handheld bottle and shake it.",
+    "Shake the handheld bottle using the right arm after grabbing.",
+    "Grab the plastic bottle carefully and shake.",
+    "Secure the cylindrical bottle, shake it, and place it down.",
+    "Shake the medium-sized bottle after grabbing it.",
+    "Grab the smooth plastic bottle firmly, shake it, and put it down.",
+    "Pick the bottle for liquids up with the right arm and shake.",
+    "Hold the white bottle with blue accents and shake it properly.",
+    "Lift up the medium bottle for beverages using the right arm, then shake.",
+    "Lift the medium bottle for beverages and shake it gently.",
+    "Hold and shake the the blue bottle with label carefully.",
+    "Pick the plastic bottle, shake it with the right arm.",
+    "Use the right arm to hold the smooth plastic bottle and shake it.",
+    "Lift the handheld bottle with the right arm and shake it.",
+    "Hold the smooth plastic bottle with the right arm and shake lightly.",
+    "Use the right arm to grab the handheld bottle and shake properly.",
+    "Use the right arm to grab the white and blue bottle and shake it.",
+    "Shake the bottle with blue cap firmly after grabbing.",
+    "Shake the plastic bottle after grabbing it.",
+    "Use the right arm to pick and shake the cylindrical bottle.",
+    "Lift the bottle with blue cap with the right arm and shake.",
+    "Shake the white and blue bottle after lifting it.",
+    "Use the right arm to lift and shake the medium-sized bottle.",
+    "Grab the white and blue bottle and move it to shake.",
+    "Utilize the right arm to hold the medium-sized bottle and shake it.",
+    "Grab the blue bottle with label with the right arm and shake."
+  ],
+  "unseen": [
+    "Grab the bottle with ridged neck, shake it properly, then set it down.",
+    "Pick up the bottle with ridged neck with the right arm and shake.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Use the right arm to pick the bottle with curved neck design.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Use the right arm to grab the bottle with ridged neck and shake.",
+    "Pick and shake the the bottle with curved neck design with the right arm.",
+    "Shake the bottle with ridged neck after picking it with the right arm.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Grab the bottle with ridged neck, shake it properly, then set it down.",
+    "Pick up the blue-capped plastic bottle with the right arm and shake.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Use the right arm to pick the blue-capped plastic bottle.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Use the right arm to grab the bottle with curved neck design and shake.",
+    "Pick and shake the the bottle with ridged neck with the right arm.",
+    "Shake the bottle with ridged neck after picking it with the right arm.",
+    "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 up the bottle with curved neck design with the right arm and shake.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Use the right arm to pick the bottle with ridged neck.",
+    "Grab the bottle with curved neck design and shake it.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Use the right arm to grab the blue-capped plastic bottle and shake.",
+    "Pick and shake the the bottle with curved neck design with the right arm.",
+    "Shake the blue-capped plastic bottle after picking it with the right arm.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Pick up the bottle with curved neck design with the right arm and shake.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Use the right arm to pick the bottle with curved neck design.",
+    "Grab the bottle with curved neck design and shake it.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Use the right arm to grab the blue-capped plastic bottle and shake.",
+    "Pick and shake the the blue-capped plastic bottle with the right arm.",
+    "Shake the bottle with curved neck design after picking it with the right arm.",
+    "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 up the bottle with curved neck design with the right arm and shake.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Use the right arm to pick the bottle with ridged neck.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Use the right arm to grab the bottle with curved neck design and shake.",
+    "Pick and shake the the blue-capped plastic bottle with the right arm.",
+    "Shake the blue-capped plastic bottle after picking it with the right arm.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Grab the bottle with ridged neck, shake it properly, then set it down.",
+    "Pick up the bottle with ridged neck with the right arm and shake.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Use the right arm to pick the bottle with ridged neck.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Use the right arm to grab the bottle with ridged neck and shake.",
+    "Pick and shake the the blue-capped plastic bottle with the right arm.",
+    "Shake the bottle with ridged neck after picking it with the right arm.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Grab the bottle with ridged neck, shake it properly, then set it down.",
+    "Pick up the bottle with ridged neck with the right arm and shake.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Use the right arm to pick the bottle with curved neck design.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Use the right arm to grab the bottle with ridged neck and shake.",
+    "Pick and shake the the bottle with ridged neck with the right arm.",
+    "Shake the blue-capped plastic bottle after picking it with the right arm.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Pick up the bottle with curved neck design with the right arm and shake.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Use the right arm to pick the bottle with curved neck design.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Use the right arm to grab the bottle with ridged neck and shake.",
+    "Pick and shake the the bottle with ridged neck with the right arm.",
+    "Shake the bottle with ridged neck after picking it with the right arm.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Grab the bottle with ridged neck, shake it properly, then set it down.",
+    "Pick up the bottle with curved neck design with the right arm and shake.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Use the right arm to pick the blue-capped plastic bottle.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Use the right arm to grab the blue-capped plastic bottle and shake.",
+    "Pick and shake the the blue-capped plastic bottle with the right arm.",
+    "Shake the bottle with curved neck design after picking it with the right arm.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Pick up the bottle with curved neck design with the right arm and shake.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Use the right arm to pick the bottle with curved neck design.",
+    "Grab the bottle with curved neck design and shake it.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Use the right arm to grab the blue-capped plastic bottle and shake.",
+    "Pick and shake the the blue-capped plastic bottle with the right arm.",
+    "Shake the bottle with curved neck design after picking it with the right arm.",
+    "Pick up the blue-capped plastic bottle and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005017.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005017.json
new file mode 100644
index 0000000000000000000000000000000000000000..1da59e0c4d611ff1d55e7476123de51e68f99dcd
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005017.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the cylindrical bottle, shake it with the right arm.",
+    "Lift the medium-sized bottle with the right arm and give it a shake.",
+    "Catch the white bottle with blue accents and shake it instantly.",
+    "Shake the bottle with blue cap thoroughly after grabbing it.",
+    "Grab the bottle for liquids and shake it steadily.",
+    "Grab the smooth plastic bottle firmly, shake it, and put it down.",
+    "Lift the white bottle with blue accents with the right arm and shake.",
+    "Use the right arm to lift and shake the cylindrical bottle.",
+    "Shake the cylindrical bottle after lifting it.",
+    "Shake the the plastic bottle properly after lifting.",
+    "Shake the plastic bottle after grabbing it.",
+    "Use the right arm to grab the white bottle with blue accents and shake properly.",
+    "Grab and shake the white and blue bottle using the right arm.",
+    "Lift the white bottle with blue accents and shake it thoroughly.",
+    "Grasp the blue bottle with the right arm and shake it.",
+    "Use the right arm to lift and shake the bottle with blue cap.",
+    "Grip the bottle with blue cap using the right arm and shake.",
+    "Pick up the plastic bottle and shake it well.",
+    "Using the right arm, shake the medium bottle for beverages and then place it back.",
+    "Grab the blue bottle with label carefully and shake.",
+    "Grab the white and blue bottle and move it to shake.",
+    "Hold the cylindrical bottle, shake it briefly.",
+    "Pick the smooth plastic bottle up using the right arm and shake it.",
+    "Secure the blue bottle and perform a shake.",
+    "Use the right arm to grab the blue bottle and shake it.",
+    "Hold the handheld bottle steady, then shake it.",
+    "Pick the medium bottle for beverages and perform shaking motion.",
+    "Use the right arm to hold the white and blue bottle and shake it.",
+    "Shake the blue bottle after grabbing it.",
+    "With the right arm, pick the plastic bottle and shake properly.",
+    "Pick the medium-sized bottle up with the right arm and shake.",
+    "Lift the white and blue bottle and shake it gently.",
+    "Shake the medium bottle for beverages using the right arm after grabbing.",
+    "Shake the medium-sized bottle firmly after grabbing.",
+    "Take the smooth plastic bottle using the right arm and give it a shake.",
+    "Grab the plastic bottle and give it a shake.",
+    "Lift up the white bottle with blue accents using the right arm, then shake.",
+    "Secure the smooth plastic bottle, shake it, and place it down.",
+    "Shake the medium-sized bottle after holding it firmly.",
+    "Grab the medium-sized bottle using the right arm, then shake.",
+    "Lift the white and blue bottle with the right arm and shake it.",
+    "Pick up the smooth plastic bottle and shake it.",
+    "Use the right arm to lift and shake the medium-sized bottle.",
+    "Utilize the right arm to hold the bottle for liquids and shake it.",
+    "Grab the medium bottle for beverages with the right arm and shake.",
+    "Hold and shake the the smooth plastic bottle carefully.",
+    "Hold the medium bottle for beverages with the right arm and shake lightly.",
+    "Shake the bottle with blue cap after grabbing it.",
+    "Use the right arm to pick and shake the blue bottle with label.",
+    "Hold the white and blue bottle and shake it properly.",
+    "Pick the blue bottle with label, shake it with the right arm.",
+    "Lift the blue bottle with the right arm and give it a shake.",
+    "Catch the bottle for liquids and shake it instantly.",
+    "Shake the medium-sized bottle thoroughly after grabbing it.",
+    "Grab the white and blue bottle and shake it steadily.",
+    "Grab the plastic bottle firmly, shake it, and put it down.",
+    "Lift the white bottle with blue accents with the right arm and shake.",
+    "Use the right arm to lift and shake the blue bottle.",
+    "Shake the plastic bottle after lifting it.",
+    "Shake the the white bottle with blue accents properly after lifting.",
+    "Shake the medium bottle for beverages after grabbing it.",
+    "Use the right arm to grab the bottle with blue cap and shake properly.",
+    "Grab and shake the medium-sized bottle using the right arm.",
+    "Lift the medium bottle for beverages and shake it thoroughly.",
+    "Grasp the smooth plastic bottle with the right arm and shake it.",
+    "Use the right arm to lift and shake the bottle with blue cap.",
+    "Grip the blue bottle with label using the right arm and shake.",
+    "Pick up the white bottle with blue accents and shake it well.",
+    "Using the right arm, shake the white bottle with blue accents and then place it back.",
+    "Grab the plastic bottle carefully and shake.",
+    "Grab the bottle with blue cap and move it to shake.",
+    "Hold the handheld bottle, shake it briefly.",
+    "Pick the handheld bottle up using the right arm and shake it.",
+    "Secure the white bottle with blue accents and perform a shake.",
+    "Use the right arm to grab the blue bottle with label and shake it.",
+    "Hold the bottle with blue cap steady, then shake it.",
+    "Pick the plastic bottle and perform shaking motion.",
+    "Use the right arm to hold the medium-sized bottle and shake it.",
+    "Shake the smooth plastic bottle after grabbing it.",
+    "With the right arm, pick the plastic bottle and shake properly.",
+    "Pick the blue bottle with label up with the right arm and shake.",
+    "Lift the white and blue bottle and shake it gently.",
+    "Shake the blue bottle with label using the right arm after grabbing.",
+    "Shake the medium bottle for beverages firmly after grabbing.",
+    "Take the white and blue bottle using the right arm and give it a shake.",
+    "Grab the medium-sized bottle and give it a shake.",
+    "Lift up the white and blue bottle using the right arm, then shake.",
+    "Secure the cylindrical bottle, shake it, and place it down.",
+    "Shake the plastic bottle after holding it firmly.",
+    "Grab the blue bottle using the right arm, then shake.",
+    "Lift the white bottle with blue accents with the right arm and shake it.",
+    "Pick up the medium bottle for beverages and shake it.",
+    "Use the right arm to lift and shake the white bottle with blue accents.",
+    "Utilize the right arm to hold the blue bottle and shake it.",
+    "Grab the handheld bottle with the right arm and shake.",
+    "Hold and shake the the white bottle with blue accents carefully.",
+    "Hold the medium-sized bottle with the right arm and shake lightly.",
+    "Shake the medium bottle for beverages after grabbing it.",
+    "Use the right arm to pick and shake the bottle with blue cap.",
+    "Hold the smooth plastic bottle and shake it properly."
+  ],
+  "unseen": [
+    "Grab the blue-capped plastic bottle 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 up the bottle with curved neck design with the right arm and shake.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Use the right arm to grab the blue-capped plastic bottle and shake.",
+    "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.",
+    "Grab the bottle with curved neck design and shake it.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Pick up the bottle with curved neck design with the right arm and shake.",
+    "Grab the blue-capped plastic bottle and give it a shake.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Use the right arm to grab the blue-capped plastic bottle and shake.",
+    "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.",
+    "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 up the bottle with curved neck design with the right arm and shake.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Use the right arm to grab the bottle with ridged neck and shake.",
+    "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 bottle with curved neck design.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Pick up the blue-capped plastic bottle with the right arm and shake.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Use the right arm to grab the blue-capped plastic bottle and shake.",
+    "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 curved neck design.",
+    "Grab the blue-capped plastic bottle 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 up the bottle with curved neck design with the right arm and shake.",
+    "Grab the blue-capped plastic bottle and give it a shake.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Use the right arm to grab the blue-capped plastic bottle and shake.",
+    "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 bottle with ridged neck.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Pick up the bottle with ridged neck with the right arm and shake.",
+    "Grab the blue-capped plastic bottle and give it a shake.",
+    "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.",
+    "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.",
+    "Grab the bottle with ridged neck 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 up the bottle with ridged neck with the right arm and shake.",
+    "Grab the blue-capped plastic bottle and give it a shake.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Use the right arm to grab the blue-capped plastic bottle and shake.",
+    "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.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Pick up the blue-capped plastic bottle with the right arm and shake.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Use the right arm to grab the blue-capped plastic bottle and shake.",
+    "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 blue-capped plastic bottle.",
+    "Grab the blue-capped plastic bottle 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 up the bottle with ridged neck with the right arm and shake.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Use the right arm to grab the bottle with ridged neck and shake.",
+    "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 curved neck design.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Grab the bottle with ridged neck, shake it properly, then set it down.",
+    "Pick up the bottle with curved neck design with the right arm and shake.",
+    "Grab the blue-capped plastic bottle and give it a shake.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Use the right arm to grab the bottle with curved neck design and shake.",
+    "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 curved neck design."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005035.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005035.json
new file mode 100644
index 0000000000000000000000000000000000000000..0738c3df4fcec7276474255b330ec993f05e4bfb
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005035.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the white and orange plastic bottle and shake it steadily.",
+    "Use the right arm to hold the cylindrical orange and white bottle and shake it.",
+    "Shake the the orange and white bottle with cap properly after lifting.",
+    "Lift the yellow label bottle with the right arm and shake.",
+    "Grab the cylindrical orange and white bottle and move it to shake.",
+    "Use the right arm to pick and shake the bottle with orange cap.",
+    "Pick up the smooth plastic bottle and shake it well.",
+    "Grasp the orange bottle with the right arm and shake it.",
+    "Grab the medium orange bottle carefully and shake.",
+    "Hold the plastic bottle and shake it properly.",
+    "Pick the white and orange plastic bottle and perform shaking motion.",
+    "Grab the bottle with ribbed orange bottom firmly, shake it, and put it down.",
+    "Lift the bottle with ribbed orange bottom and shake it thoroughly.",
+    "Lift the smooth plastic bottle with the right arm and give it a shake.",
+    "Shake the white and orange plastic bottle using the right arm after grabbing.",
+    "Shake the medium orange bottle firmly after grabbing.",
+    "Catch the plastic bottle and shake it instantly.",
+    "With the right arm, pick the bottle with ribbed orange bottom and shake properly.",
+    "Hold the orange and white bottle with cap, shake it briefly.",
+    "Shake the smooth plastic bottle thoroughly after grabbing it.",
+    "Grab the white and orange plastic bottle and give it a shake.",
+    "Lift the orange and white bottle with cap with the right arm and shake it.",
+    "Grab and shake the medium orange bottle using the right arm.",
+    "Hold the cylindrical orange and white bottle steady, then shake it.",
+    "Shake the medium bottle with orange lid after lifting it.",
+    "Use the right arm to grab the smooth plastic bottle and shake properly.",
+    "Secure the smooth plastic bottle, shake it, and place it down.",
+    "Grab the bottle with ribbed orange bottom with the right arm and shake.",
+    "Pick the smooth plastic bottle, shake it with the right arm.",
+    "Use the right arm to lift and shake the drinking bottle with yellow label.",
+    "Hold the medium bottle with orange lid with the right arm and shake lightly.",
+    "Use the right arm to lift and shake the bottle with ribbed orange bottom.",
+    "Utilize the right arm to hold the bottle with ribbed orange bottom and shake it.",
+    "Shake the white and orange plastic bottle after grabbing it.",
+    "Use the right arm to grab the bottle with orange cap and shake it.",
+    "Grip the bottle with orange cap using the right arm and shake.",
+    "Shake the orange bottle after grabbing it.",
+    "Lift the bottle with ribbed orange bottom and shake it gently.",
+    "Shake the cylindrical orange and white bottle after grabbing it.",
+    "Using the right arm, shake the bottle with ribbed orange bottom and then place it back.",
+    "Grab the orange and white bottle with cap using the right arm, then shake.",
+    "Shake the plastic bottle after holding it firmly.",
+    "Pick the orange bottle up with the right arm and shake.",
+    "Take the white and orange plastic bottle using the right arm and give it a shake.",
+    "Use the right arm to lift and shake the orange and white bottle with cap.",
+    "Hold and shake the the yellow label bottle carefully.",
+    "Pick up the smooth plastic bottle and shake it.",
+    "Pick the drinking bottle with yellow label up using the right arm and shake it.",
+    "Secure the drinking bottle with yellow label and perform a shake.",
+    "Lift up the plastic bottle using the right arm, then shake.",
+    "Grab the white and orange plastic bottle and shake it steadily.",
+    "Use the right arm to hold the medium bottle with orange lid and shake it.",
+    "Shake the the drinking bottle with yellow label properly after lifting.",
+    "Lift the orange and white bottle with cap with the right arm and shake.",
+    "Grab the orange and white bottle with cap and move it to shake.",
+    "Use the right arm to pick and shake the yellow label bottle.",
+    "Pick up the white and orange plastic bottle and shake it well.",
+    "Grasp the yellow label bottle with the right arm and shake it.",
+    "Grab the medium orange bottle carefully and shake.",
+    "Hold the white and orange plastic bottle and shake it properly.",
+    "Pick the cylindrical orange and white bottle and perform shaking motion.",
+    "Grab the bottle with orange cap firmly, shake it, and put it down.",
+    "Lift the white and orange plastic bottle and shake it thoroughly.",
+    "Lift the yellow label bottle with the right arm and give it a shake.",
+    "Shake the plastic bottle using the right arm after grabbing.",
+    "Shake the orange bottle firmly after grabbing.",
+    "Catch the drinking bottle with yellow label and shake it instantly.",
+    "With the right arm, pick the medium orange bottle and shake properly.",
+    "Hold the drinking bottle with yellow label, shake it briefly.",
+    "Shake the medium bottle with orange lid thoroughly after grabbing it.",
+    "Grab the yellow label bottle and give it a shake.",
+    "Lift the cylindrical orange and white bottle with the right arm and shake it.",
+    "Grab and shake the bottle with ribbed orange bottom using the right arm.",
+    "Hold the bottle with orange cap steady, then shake it.",
+    "Shake the white and orange plastic bottle after lifting it.",
+    "Use the right arm to grab the medium orange bottle and shake properly.",
+    "Secure the orange and white bottle with cap, shake it, and place it down.",
+    "Grab the bottle with orange cap with the right arm and shake.",
+    "Pick the medium orange bottle, shake it with the right arm.",
+    "Use the right arm to lift and shake the yellow label bottle.",
+    "Hold the medium orange bottle with the right arm and shake lightly.",
+    "Use the right arm to lift and shake the yellow label bottle.",
+    "Utilize the right arm to hold the orange bottle and shake it.",
+    "Shake the drinking bottle with yellow label after grabbing it.",
+    "Use the right arm to grab the white and orange plastic bottle and shake it.",
+    "Grip the plastic bottle using the right arm and shake.",
+    "Shake the cylindrical orange and white bottle after grabbing it.",
+    "Lift the drinking bottle with yellow label and shake it gently.",
+    "Shake the bottle with ribbed orange bottom after grabbing it.",
+    "Using the right arm, shake the medium orange bottle and then place it back.",
+    "Grab the orange bottle using the right arm, then shake.",
+    "Shake the orange bottle after holding it firmly.",
+    "Pick the orange and white bottle with cap up with the right arm and shake.",
+    "Take the medium bottle with orange lid using the right arm and give it a shake.",
+    "Use the right arm to lift and shake the medium orange bottle.",
+    "Hold and shake the the bottle with ribbed orange bottom carefully.",
+    "Pick up the medium bottle with orange lid and shake it.",
+    "Pick the medium bottle with orange lid up using the right arm and shake it.",
+    "Secure the bottle with orange cap and perform a shake.",
+    "Lift up the medium orange bottle using the right arm, then shake."
+  ],
+  "unseen": [
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Grab the bottle with curved body and shake it.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "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 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 up the bottle with yellow sticker label with the right arm and shake.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Grab the bottle with curved body and shake it.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "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 and shake it.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Grab 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 curved body and shake it.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "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.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Use the right arm to pick the bottle with curved body.",
+    "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 right arm to grab the bottle with curved body and shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Use the right arm to pick the bottle with curved body.",
+    "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 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 up the bottle with yellow sticker label with the right arm and shake.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Grab 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 and shake it.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Grab 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 curved body and shake it.",
+    "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 up the bottle with curved body with the right arm and shake.",
+    "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.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Grab the bottle with curved body 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 curvy orange bottle with white section 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 and shake it.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "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.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "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 right arm to grab the curvy orange bottle with white section and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "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.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Grab the curvy orange bottle with white section 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 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 and shake it.",
+    "Pick up the bottle with curved body with the right arm and shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005058.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005058.json
new file mode 100644
index 0000000000000000000000000000000000000000..f080878b713f085af8a6fe4d8e3398c971297baa
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005058.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the bottle with white cap after lifting it.",
+    "Hold the yellow body bottle and shake it properly.",
+    "Grab the bottle with green and white label carefully and shake.",
+    "Shake the the bottle with green and white label properly after lifting.",
+    "Shake the handheld bottle after grabbing it.",
+    "Shake the bottle with white cap using the right arm after grabbing.",
+    "Lift the yellow bottle with the right arm and shake it.",
+    "Grip the bottle with green and white label using the right arm and shake.",
+    "Lift the bottle for liquids and shake it gently.",
+    "Use the right arm to grab the yellow bottle with flower design and shake it.",
+    "Hold the bottle with white cap, shake it briefly.",
+    "Pick the bottle with green and white label, shake it with the right arm.",
+    "Take the smooth yellow plastic bottle using the right arm and give it a shake.",
+    "Hold the bottle with green and white label with the right arm and shake lightly.",
+    "Grab the handheld bottle firmly, shake it, and put it down.",
+    "Grab the bottle for liquids and give it a shake.",
+    "Grab the bottle with green and white label using the right arm, then shake.",
+    "Grasp the rectangular bottle with the right arm and shake it.",
+    "Grab the yellow bottle and move it to shake.",
+    "Shake the yellow bottle with cylindrical cap after holding it firmly.",
+    "Pick up the plastic bottle and shake it.",
+    "Use the right arm to lift and shake the yellow body bottle.",
+    "Pick up the handheld bottle and shake it well.",
+    "Pick the smooth yellow plastic bottle up with the right arm and shake.",
+    "Shake the yellow body bottle after grabbing it.",
+    "Lift the bottle with white cap with the right arm and shake.",
+    "With the right arm, pick the plastic bottle and shake properly.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Hold and shake the the yellow bottle with flower design carefully.",
+    "Shake the bottle for liquids firmly after grabbing.",
+    "Catch the yellow bottle with cylindrical cap and shake it instantly.",
+    "Grab the bottle with green and white label and shake it steadily.",
+    "Lift the smooth yellow plastic bottle and shake it thoroughly.",
+    "Hold the yellow bottle steady, then shake it.",
+    "Using the right arm, shake the smooth yellow plastic bottle and then place it back.",
+    "Pick the plastic bottle and perform shaking motion.",
+    "Use the right arm to pick and shake the plastic bottle.",
+    "Use the right arm to lift and shake the bottle with white cap.",
+    "Pick the bottle with white cap up using the right arm and shake it.",
+    "Secure the bottle with white cap and perform a shake.",
+    "Grab and shake the yellow bottle using the right arm.",
+    "Lift up the bottle with green and white label using the right arm, then shake.",
+    "Secure the handheld bottle, shake it, and place it down.",
+    "Use the right arm to hold the plastic bottle and shake it.",
+    "Utilize the right arm to hold the yellow bottle with green label and shake it.",
+    "Lift the handheld bottle with the right arm and give it a shake.",
+    "Shake the handheld bottle after grabbing it.",
+    "Grab the yellow body bottle with the right arm and shake.",
+    "Use the right arm to grab the yellow bottle with green label and shake properly.",
+    "Shake the yellow bottle with cylindrical cap thoroughly after grabbing it.",
+    "Shake the yellow bottle after lifting it.",
+    "Hold the handheld bottle and shake it properly.",
+    "Grab the yellow body bottle carefully and shake.",
+    "Shake the the rectangular bottle properly after lifting.",
+    "Shake the rectangular bottle after grabbing it.",
+    "Shake the bottle with green and white label using the right arm after grabbing.",
+    "Lift the plastic bottle with the right arm and shake it.",
+    "Grip the bottle for liquids using the right arm and shake.",
+    "Lift the handheld bottle and shake it gently.",
+    "Use the right arm to grab the bottle with white cap and shake it.",
+    "Hold the yellow body bottle, shake it briefly.",
+    "Pick the yellow body bottle, shake it with the right arm.",
+    "Take the yellow bottle with cylindrical cap using the right arm and give it a shake.",
+    "Hold the yellow body bottle with the right arm and shake lightly.",
+    "Grab the yellow body bottle firmly, shake it, and put it down.",
+    "Grab the bottle for liquids and give it a shake.",
+    "Grab the yellow bottle with green label using the right arm, then shake.",
+    "Grasp the yellow bottle with green label with the right arm and shake it.",
+    "Grab the yellow bottle with green label and move it to shake.",
+    "Shake the bottle with green and white label after holding it firmly.",
+    "Pick up the rectangular bottle and shake it.",
+    "Use the right arm to lift and shake the smooth yellow plastic bottle.",
+    "Pick up the bottle with green and white label and shake it well.",
+    "Pick the yellow body bottle up with the right arm and shake.",
+    "Shake the yellow bottle with cylindrical cap after grabbing it.",
+    "Lift the rectangular bottle with the right arm and shake.",
+    "With the right arm, pick the yellow bottle with flower design and shake properly.",
+    "Use the right arm to lift and shake the smooth yellow plastic bottle.",
+    "Hold and shake the the bottle for liquids carefully.",
+    "Shake the handheld bottle firmly after grabbing.",
+    "Catch the yellow bottle with flower design and shake it instantly.",
+    "Grab the bottle with white cap and shake it steadily.",
+    "Lift the yellow bottle and shake it thoroughly.",
+    "Hold the plastic bottle steady, then shake it.",
+    "Using the right arm, shake the yellow body bottle and then place it back.",
+    "Pick the bottle for liquids and perform shaking motion.",
+    "Use the right arm to pick and shake the yellow body bottle.",
+    "Use the right arm to lift and shake the yellow body bottle.",
+    "Pick the bottle for liquids up using the right arm and shake it.",
+    "Secure the smooth yellow plastic bottle and perform a shake.",
+    "Grab and shake the bottle for liquids using the right arm.",
+    "Lift up the handheld bottle using the right arm, then shake.",
+    "Secure the yellow body bottle, shake it, and place it down.",
+    "Use the right arm to hold the yellow body bottle and shake it.",
+    "Utilize the right arm to hold the bottle for liquids and shake it.",
+    "Lift the yellow bottle with flower design with the right arm and give it a shake.",
+    "Shake the yellow body bottle after grabbing it.",
+    "Grab the rectangular bottle with the right arm and shake.",
+    "Use the right arm to grab the bottle with white cap and shake properly.",
+    "Shake the bottle with green and white label thoroughly after grabbing it."
+  ],
+  "unseen": [
+    "Shake the bottle with printed label after picking it with the right arm.",
+    "Use the right arm to grab the bottle with rounded edges and shake.",
+    "Grab the bottle with rounded edges and shake it.",
+    "Pick up the medium bottle and shake it.",
+    "Grab the medium bottle and give it a shake.",
+    "Pick and shake the the medium bottle with the right arm.",
+    "Pick up the bottle with printed label and shake it.",
+    "Use the right arm to pick the bottle with rounded edges.",
+    "Grab the medium bottle, shake it properly, then set it down.",
+    "Pick up the bottle with rounded edges with the right arm and shake.",
+    "Shake the bottle with rounded edges after picking it with the right arm.",
+    "Use the right arm to grab the medium bottle and shake.",
+    "Grab the bottle with printed label and shake it.",
+    "Pick up the bottle with rounded edges and shake it.",
+    "Grab the bottle with printed label and give it a shake.",
+    "Pick and shake the the medium bottle with the right arm.",
+    "Pick up the medium bottle and shake it.",
+    "Use the right arm to pick the bottle with printed label.",
+    "Grab the medium bottle, shake it properly, then set it down.",
+    "Pick up the bottle with rounded edges with the right arm and shake.",
+    "Shake the medium bottle after picking it with the right arm.",
+    "Use the right arm to grab the bottle with rounded edges and shake.",
+    "Grab the bottle with rounded edges and shake it.",
+    "Pick up the bottle with printed label and shake it.",
+    "Grab the medium bottle and give it a shake.",
+    "Pick and shake the the medium bottle with the right arm.",
+    "Pick up the bottle with printed label and shake it.",
+    "Use the right arm to pick the bottle with rounded edges.",
+    "Grab the medium bottle, shake it properly, then set it down.",
+    "Pick up the bottle with printed label with the right arm and shake.",
+    "Shake the bottle with printed label after picking it with the right arm.",
+    "Use the right arm to grab the bottle with printed label and shake.",
+    "Grab the bottle with rounded edges and shake it.",
+    "Pick up the bottle with rounded edges and shake it.",
+    "Grab the bottle with printed label and give it a shake.",
+    "Pick and shake the the medium bottle with the right arm.",
+    "Pick up the bottle with rounded edges and shake it.",
+    "Use the right arm to pick the bottle with printed label.",
+    "Grab the medium bottle, shake it properly, then set it down.",
+    "Pick up the medium bottle with the right arm and shake.",
+    "Shake the bottle with rounded edges after picking it with the right arm.",
+    "Use the right arm to grab the bottle with rounded edges and shake.",
+    "Grab the bottle with printed label and shake it.",
+    "Pick up the bottle with rounded edges and shake it.",
+    "Grab the bottle with rounded edges and give it a shake.",
+    "Pick and shake the the medium bottle with the right arm.",
+    "Pick up the bottle with printed label and shake it.",
+    "Use the right arm to pick the medium bottle.",
+    "Grab the bottle with printed label, shake it properly, then set it down.",
+    "Pick up the bottle with printed label with the right arm and shake.",
+    "Shake the bottle with rounded edges after picking it with the right arm.",
+    "Use the right arm to grab the medium bottle and shake.",
+    "Grab the bottle with printed label and shake it.",
+    "Pick up the medium bottle and shake it.",
+    "Grab the bottle with rounded edges and give it a shake.",
+    "Pick and shake the the bottle with rounded edges with the right arm.",
+    "Pick up the medium bottle and shake it.",
+    "Use the right arm to pick the bottle with rounded edges.",
+    "Grab the bottle with rounded edges, shake it properly, then set it down.",
+    "Pick up the medium bottle with the right arm and shake.",
+    "Shake the bottle with printed label after picking it with the right arm.",
+    "Use the right arm to grab the bottle with printed label and shake.",
+    "Grab the bottle with printed label and shake it.",
+    "Pick up the medium bottle and shake it.",
+    "Grab the medium bottle and give it a shake.",
+    "Pick and shake the the medium bottle with the right arm.",
+    "Pick up the bottle with rounded edges and shake it.",
+    "Use the right arm to pick the bottle with printed label.",
+    "Grab the bottle with rounded edges, shake it properly, then set it down.",
+    "Pick up the medium bottle with the right arm and shake.",
+    "Shake the bottle with rounded edges after picking it with the right arm.",
+    "Use the right arm to grab the medium bottle and shake.",
+    "Grab the bottle with printed label and shake it.",
+    "Pick up the bottle with rounded edges and shake it.",
+    "Grab the bottle with rounded edges and give it a shake.",
+    "Pick and shake the the bottle with printed label with the right arm.",
+    "Pick up the bottle with printed label and shake it.",
+    "Use the right arm to pick the bottle with printed label.",
+    "Grab the bottle with rounded edges, shake it properly, then set it down.",
+    "Pick up the bottle with rounded edges with the right arm and shake.",
+    "Shake the bottle with printed label after picking it with the right arm.",
+    "Use the right arm to grab the bottle with printed label and shake.",
+    "Grab the bottle with printed label and shake it.",
+    "Pick up the bottle with printed label and shake it.",
+    "Grab the bottle with rounded edges and give it a shake.",
+    "Pick and shake the the bottle with rounded edges with the right arm.",
+    "Pick up the medium bottle and shake it.",
+    "Use the right arm to pick the bottle with rounded edges.",
+    "Grab the bottle with printed label, shake it properly, then set it down.",
+    "Pick up the bottle with rounded edges with the right arm and shake.",
+    "Shake the medium bottle after picking it with the right arm.",
+    "Use the right arm to grab the medium bottle and shake.",
+    "Grab the bottle with printed label and shake it.",
+    "Pick up the bottle with printed label and shake it.",
+    "Grab the bottle with rounded edges and give it a shake.",
+    "Pick and shake the the bottle with rounded edges with the right arm.",
+    "Pick up the medium bottle and shake it.",
+    "Use the right arm to pick the medium bottle.",
+    "Grab the bottle with rounded edges, shake it properly, then set it down.",
+    "Pick up the bottle with rounded edges with the right arm and shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005096.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005096.json
new file mode 100644
index 0000000000000000000000000000000000000000..7828f4b1fe74e6aceb3e10789dc138d738e428c5
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005096.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the beverage bottle with black body with the left arm and shake it.",
+    "Hold the black bottle steady, then shake it.",
+    "Use the left arm to lift and shake the beverage bottle with black body.",
+    "Hold the yellow capped drink bottle and shake it properly.",
+    "Grab the plastic bottle with colorful label using the left arm, then shake.",
+    "Hold the beverage bottle with black body, shake it briefly.",
+    "Hold and shake the the plastic bottle with colorful label carefully.",
+    "Grab the yellow capped drink bottle and shake it steadily.",
+    "Catch the plastic bottle with colorful label and shake it instantly.",
+    "Use the left arm to hold the drink bottle with rounded yellow lid and shake it.",
+    "Use the left arm to lift and shake the yellow capped drink bottle.",
+    "Grab the medium bottle with yellow cap with the left arm and shake.",
+    "Shake the black bottle after holding it firmly.",
+    "Shake the medium black bottle with printed label thoroughly after grabbing it.",
+    "Pick up the drink bottle with rounded yellow lid and shake it.",
+    "Pick up the medium black bottle with printed label and shake it well.",
+    "Use the left arm to lift and shake the beverage bottle with black body.",
+    "Take the black cylindrical bottle with ridges using the left arm and give it a shake.",
+    "Pick the medium black bottle with printed label up with the left arm and shake.",
+    "Utilize the left arm to hold the yellow capped drink bottle and shake it.",
+    "Grab the beverage bottle with black body carefully and shake.",
+    "Pick the plastic bottle with colorful label up using the left arm and shake it.",
+    "Hold the yellow-capped cylindrical bottle with the left arm and shake lightly.",
+    "Use the left arm to grab the medium bottle with yellow cap and shake properly.",
+    "Use the left arm to pick and shake the black bottle.",
+    "Shake the black plastic bottle with Pepsi logo firmly after grabbing.",
+    "Grab the medium bottle with yellow cap and move it to shake.",
+    "Lift the smooth black bottle with ridges with the left arm and shake.",
+    "Shake the the yellow capped drink bottle properly after lifting.",
+    "Shake the black bottle after grabbing it.",
+    "Shake the black cylindrical bottle with ridges after grabbing it.",
+    "Lift the black bottle with the left arm and give it a shake.",
+    "Shake the yellow-capped cylindrical bottle after grabbing it.",
+    "Using the left arm, shake the black bottle and then place it back.",
+    "Lift up the medium black bottle with printed label using the left arm, then shake.",
+    "With the left arm, pick the yellow-capped cylindrical bottle and shake properly.",
+    "Secure the medium black bottle with printed label and perform a shake.",
+    "Use the left arm to grab the yellow-capped cylindrical bottle and shake it.",
+    "Grab the bottle with blue and yellow print firmly, shake it, and put it down.",
+    "Lift the black plastic bottle with Pepsi logo and shake it gently.",
+    "Pick the plastic bottle with colorful label, shake it with the left arm.",
+    "Shake the beverage bottle with black body using the left arm after grabbing.",
+    "Grab and shake the drink bottle with rounded yellow lid using the left arm.",
+    "Grasp the black bottle with the left arm and shake it.",
+    "Grab the black plastic bottle with Pepsi logo and give it a shake.",
+    "Pick the plastic bottle with colorful label and perform shaking motion.",
+    "Shake the black plastic bottle with Pepsi logo after lifting it.",
+    "Secure the smooth black bottle with ridges, shake it, and place it down.",
+    "Lift the medium black bottle with printed label and shake it thoroughly.",
+    "Grip the beverage bottle with black body using the left arm and shake.",
+    "Lift the beverage bottle with black body with the left arm and shake it.",
+    "Hold the bottle with blue and yellow print steady, then shake it.",
+    "Use the left arm to lift and shake the yellow capped drink bottle.",
+    "Hold the medium bottle with yellow cap and shake it properly.",
+    "Grab the drink bottle with rounded yellow lid using the left arm, then shake.",
+    "Hold the drink bottle with rounded yellow lid, shake it briefly.",
+    "Hold and shake the the black plastic bottle with Pepsi logo carefully.",
+    "Grab the black cylindrical bottle with ridges and shake it steadily.",
+    "Catch the bottle with blue and yellow print and shake it instantly.",
+    "Use the left arm to hold the smooth black bottle with ridges and shake it.",
+    "Use the left arm to lift and shake the yellow capped drink bottle.",
+    "Grab the medium bottle with yellow cap with the left arm and shake.",
+    "Shake the medium black bottle with printed label after holding it firmly.",
+    "Shake the yellow-capped cylindrical bottle thoroughly after grabbing it.",
+    "Pick up the beverage bottle with black body and shake it.",
+    "Pick up the beverage bottle with black body and shake it well.",
+    "Use the left arm to lift and shake the medium black bottle with printed label.",
+    "Take the black bottle using the left arm and give it a shake.",
+    "Pick the bottle with blue and yellow print up with the left arm and shake.",
+    "Utilize the left arm to hold the medium black bottle with printed label and shake it.",
+    "Grab the black bottle carefully and shake.",
+    "Pick the yellow capped drink bottle up using the left arm and shake it.",
+    "Hold the plastic bottle with colorful label with the left arm and shake lightly.",
+    "Use the left arm to grab the beverage bottle with black body and shake properly.",
+    "Use the left arm to pick and shake the medium black bottle with printed label.",
+    "Shake the beverage bottle with black body firmly after grabbing.",
+    "Grab the smooth black bottle with ridges and move it to shake.",
+    "Lift the yellow-capped cylindrical bottle with the left arm and shake.",
+    "Shake the the drink bottle with rounded yellow lid properly after lifting.",
+    "Shake the bottle with blue and yellow print after grabbing it.",
+    "Shake the bottle with blue and yellow print after grabbing it.",
+    "Lift the black cylindrical bottle with ridges with the left arm and give it a shake.",
+    "Shake the drink bottle with rounded yellow lid after grabbing it.",
+    "Using the left arm, shake the smooth black bottle with ridges and then place it back.",
+    "Lift up the black bottle using the left arm, then shake.",
+    "With the left arm, pick the yellow capped drink bottle and shake properly.",
+    "Secure the medium black bottle with printed label and perform a shake.",
+    "Use the left arm to grab the smooth black bottle with ridges and shake it.",
+    "Grab the bottle with blue and yellow print firmly, shake it, and put it down.",
+    "Lift the medium black bottle with printed label and shake it gently.",
+    "Pick the beverage bottle with black body, shake it with the left arm.",
+    "Shake the smooth black bottle with ridges using the left arm after grabbing.",
+    "Grab and shake the medium black bottle with printed label using the left arm.",
+    "Grasp the medium black bottle with printed label with the left arm and shake it.",
+    "Grab the yellow capped drink bottle and give it a shake.",
+    "Pick the bottle with blue and yellow print and perform shaking motion.",
+    "Shake the plastic bottle with colorful label after lifting it.",
+    "Secure the black cylindrical bottle with ridges, shake it, and place it down.",
+    "Lift the black bottle and shake it thoroughly.",
+    "Grip the black cylindrical bottle with ridges using the left arm and shake."
+  ],
+  "unseen": [
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Use the left arm to pick the plastic bottle with blue label.",
+    "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Shake the bottle with ridges near base after picking it with the left arm.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.",
+    "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.",
+    "Use the left arm to pick the bottle with ridges near base.",
+    "Pick up the bottle with ridges near base with the left arm and shake.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Use the left arm to grab the bottle with ridges near base and shake.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Shake the plastic bottle with blue label after picking it with the left arm.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.",
+    "Grab the bottle with ridges near base 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.",
+    "Use the left arm to pick the plastic bottle with blue label.",
+    "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Shake the plastic bottle with blue label after picking it with the left arm.",
+    "Pick and shake the the plastic bottle with blue label with the left arm.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Use the left arm to pick the bottle with ridges near base.",
+    "Pick up the plastic bottle with blue label with the left arm and shake.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.",
+    "Pick and shake the the bottle with ridges near base with the left arm.",
+    "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.",
+    "Use the left arm to pick the plastic bottle with blue label.",
+    "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Use the left arm to grab the bottle with ridges near base and shake.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.",
+    "Pick and shake the the plastic bottle with blue label with the left arm.",
+    "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 hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Use the left arm to pick the plastic bottle with blue label.",
+    "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Use the left arm to grab the bottle with ridges near base and shake.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Shake the plastic bottle with blue label after picking it with the left arm.",
+    "Pick and shake the the bottle with ridges near base with the left arm.",
+    "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.",
+    "Use the left arm to pick the hand-sized bottle with ridged bottom.",
+    "Pick up the plastic bottle with blue label with the left arm and shake.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Use the left arm to grab the plastic bottle with blue label and shake.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.",
+    "Pick and shake the the plastic bottle with blue label with the left arm.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Use the left arm to pick the bottle with ridges near base.",
+    "Pick up the bottle with ridges near base with the left arm and shake.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Use the left arm to grab the plastic bottle with blue label and shake.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.",
+    "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.",
+    "Use the left arm to pick the bottle with ridges near base.",
+    "Pick up the bottle with ridges near base with the left arm and shake.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Use the left arm to grab the plastic bottle with blue label and shake.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Shake the plastic bottle with blue label after picking it with the left arm.",
+    "Pick and shake the the bottle with ridges near base with the left arm.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Use the left arm to pick the bottle with ridges near base.",
+    "Pick up the plastic bottle with blue label with the left arm and shake.",
+    "Grab the bottle with ridges near base and shake it.",
+    "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Shake the plastic bottle with blue label after picking it with the left arm.",
+    "Pick and shake the the plastic bottle with blue label with the left arm.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005142.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005142.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed35f03d330c67ba651aac894fe8e417207281d8
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005142.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the plastic bottle with ghost print using the left arm and give it a shake.",
+    "Use the left arm to grab the milk-bottle shape design and shake it.",
+    "With the left arm, pick the hand-sized bottle with screw cap and shake properly.",
+    "Grab the medium-sized plastic bottle and give it a shake.",
+    "Lift the plastic bottle with ghost print and shake it gently.",
+    "Hold and shake the the plastic bottle with ghost print carefully.",
+    "Grasp the plastic bottle with ghost print with the left arm and shake it.",
+    "Use the left arm to lift and shake the smooth cylindrical bottle.",
+    "Grab the smooth surface bottle with gray shade carefully and shake.",
+    "Hold the rounded body bottle made of plastic steady, then shake it.",
+    "Grab the smooth surface bottle with gray shade and shake it steadily.",
+    "Shake the gray bottle with slight shine thoroughly after grabbing it.",
+    "Pick the hand-sized bottle with screw cap and perform shaking motion.",
+    "Lift up the plastic bottle with ghost print using the left arm, then shake.",
+    "Lift the hand-sized bottle with screw cap with the left arm and give it a shake.",
+    "Lift the smooth surface bottle with gray shade with the left arm and shake it.",
+    "Shake the hand-sized bottle with screw cap after grabbing it.",
+    "Shake the light gray colored container bottle using the left arm after grabbing.",
+    "Grab and shake the plastic bottle with ghost print using the left arm.",
+    "Pick up the gray bottle with slight shine and shake it.",
+    "Shake the plastic bottle with ghost print after holding it firmly.",
+    "Grab the bottle with cute ghost drawing firmly, shake it, and put it down.",
+    "Shake the medium cylinder-shaped bottle after grabbing it.",
+    "Using the left arm, shake the milk-bottle shape design and then place it back.",
+    "Shake the gray bottle with slight shine after lifting it.",
+    "Secure the light gray colored container bottle, shake it, and place it down.",
+    "Shake the the hand-sized bottle with screw cap properly after lifting.",
+    "Use the left arm to hold the medium cylinder-shaped bottle and shake it.",
+    "Grab the rounded body bottle made of plastic with the left arm and shake.",
+    "Secure the medium-sized plastic bottle and perform a shake.",
+    "Hold the smooth surface bottle with gray shade with the left arm and shake lightly.",
+    "Lift the milk-bottle shape design with the left arm and shake.",
+    "Use the left arm to lift and shake the smooth cylindrical bottle.",
+    "Pick the smooth surface bottle with gray shade, shake it with the left arm.",
+    "Use the left arm to pick and shake the light gray colored container bottle.",
+    "Catch the milk-bottle shape design and shake it instantly.",
+    "Hold the bottle shaped like small cylinder and shake it properly.",
+    "Shake the rounded body bottle made of plastic after grabbing it.",
+    "Grab the milk-bottle shape design using the left arm, then shake.",
+    "Hold the smooth cylindrical bottle, shake it briefly.",
+    "Use the left arm to lift and shake the hand-sized bottle with screw cap.",
+    "Pick the smooth surface bottle with gray shade up with the left arm and shake.",
+    "Pick up the gray bottle with slight shine and shake it well.",
+    "Shake the bottle with cute ghost drawing firmly after grabbing.",
+    "Lift the bottle shaped like small cylinder and shake it thoroughly.",
+    "Use the left arm to grab the rounded body bottle made of plastic and shake properly.",
+    "Utilize the left arm to hold the hand-sized bottle with screw cap and shake it.",
+    "Grip the gray bottle with slight shine using the left arm and shake.",
+    "Pick the bottle with cute ghost drawing up using the left arm and shake it.",
+    "Grab the gray bottle with slight shine and move it to shake.",
+    "Take the medium-sized plastic bottle using the left arm and give it a shake.",
+    "Use the left arm to grab the hand-sized bottle with screw cap and shake it.",
+    "With the left arm, pick the milk-bottle shape design and shake properly.",
+    "Grab the medium cylinder-shaped bottle and give it a shake.",
+    "Lift the medium-sized plastic bottle and shake it gently.",
+    "Hold and shake the the smooth cylindrical bottle carefully.",
+    "Grasp the smooth surface bottle with gray shade with the left arm and shake it.",
+    "Use the left arm to lift and shake the medium-sized plastic bottle.",
+    "Grab the milk-bottle shape design carefully and shake.",
+    "Hold the medium cylinder-shaped bottle steady, then shake it.",
+    "Grab the bottle shaped like small cylinder and shake it steadily.",
+    "Shake the bottle with cute ghost drawing thoroughly after grabbing it.",
+    "Pick the smooth surface bottle with gray shade and perform shaking motion.",
+    "Lift up the smooth cylindrical bottle using the left arm, then shake.",
+    "Lift the bottle with cute ghost drawing with the left arm and give it a shake.",
+    "Lift the bottle shaped like small cylinder with the left arm and shake it.",
+    "Shake the medium cylinder-shaped bottle after grabbing it.",
+    "Shake the bottle with cute ghost drawing using the left arm after grabbing.",
+    "Grab and shake the medium-sized plastic bottle using the left arm.",
+    "Pick up the hand-sized bottle with screw cap and shake it.",
+    "Shake the medium cylinder-shaped bottle after holding it firmly.",
+    "Grab the medium-sized plastic bottle firmly, shake it, and put it down.",
+    "Shake the bottle with cute ghost drawing after grabbing it.",
+    "Using the left arm, shake the smooth surface bottle with gray shade and then place it back.",
+    "Shake the plastic bottle with ghost print after lifting it.",
+    "Secure the rounded body bottle made of plastic, shake it, and place it down.",
+    "Shake the the bottle with cute ghost drawing properly after lifting.",
+    "Use the left arm to hold the smooth surface bottle with gray shade and shake it.",
+    "Grab the gray bottle with slight shine with the left arm and shake.",
+    "Secure the medium-sized plastic bottle and perform a shake.",
+    "Hold the smooth cylindrical bottle with the left arm and shake lightly.",
+    "Lift the medium cylinder-shaped bottle with the left arm and shake.",
+    "Use the left arm to lift and shake the plastic bottle with ghost print.",
+    "Pick the smooth surface bottle with gray shade, shake it with the left arm.",
+    "Use the left arm to pick and shake the plastic bottle with ghost print.",
+    "Catch the rounded body bottle made of plastic and shake it instantly.",
+    "Hold the bottle shaped like small cylinder and shake it properly.",
+    "Shake the smooth surface bottle with gray shade after grabbing it.",
+    "Grab the hand-sized bottle with screw cap using the left arm, then shake.",
+    "Hold the medium cylinder-shaped bottle, shake it briefly.",
+    "Use the left arm to lift and shake the hand-sized bottle with screw cap.",
+    "Pick the milk-bottle shape design up with the left arm and shake.",
+    "Pick up the bottle with cute ghost drawing and shake it well.",
+    "Shake the medium-sized plastic bottle firmly after grabbing.",
+    "Lift the rounded body bottle made of plastic and shake it thoroughly.",
+    "Use the left arm to grab the medium cylinder-shaped bottle and shake properly.",
+    "Utilize the left arm to hold the light gray colored container bottle and shake it.",
+    "Grip the plastic bottle with ghost print using the left arm and shake.",
+    "Pick the light gray colored container bottle up using the left arm and shake it.",
+    "Grab the bottle with cute ghost drawing and move it to shake."
+  ],
+  "unseen": [
+    "Use the left arm to grab the light gray bottle and shake.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Grab the light gray bottle and shake it.",
+    "Shake the bottle with rounded cap top after picking it with the left arm.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Use the left arm to pick the light gray bottle.",
+    "Pick up the gray bottle for holding drinks with the left arm and shake.",
+    "Pick and shake the the bottle with rounded cap top with the left arm.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Pick up the light gray bottle and shake it.",
+    "Use the left arm to grab the gray bottle for holding drinks and shake.",
+    "Grab the gray bottle for holding drinks and give it a shake.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Shake the bottle with rounded cap top after picking it with the left arm.",
+    "Pick up the light gray bottle and shake it.",
+    "Use the left arm to pick the light gray bottle.",
+    "Pick up the gray bottle for holding drinks with the left arm and shake.",
+    "Pick and shake the the light gray bottle with the left arm.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Use the left arm to grab the bottle with rounded cap top and shake.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Shake the bottle with rounded cap top after picking it with the left arm.",
+    "Pick up the light gray bottle and shake it.",
+    "Use the left arm to pick the light gray bottle.",
+    "Pick up the bottle with rounded cap top with the left arm and shake.",
+    "Pick and shake the the gray bottle for holding drinks with the left arm.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Use the left arm to grab the bottle with rounded cap top and shake.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Shake the bottle with rounded cap top after picking it with the left arm.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Use the left arm to pick the bottle with rounded cap top.",
+    "Pick up the bottle with rounded cap top with the left arm and shake.",
+    "Pick and shake the the light gray bottle with the left arm.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Pick up the light gray bottle and shake it.",
+    "Use the left arm to grab the bottle with rounded cap top and shake.",
+    "Grab the light gray bottle and give it a shake.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Shake the gray bottle for holding drinks after picking it with the left arm.",
+    "Pick up the light gray bottle and shake it.",
+    "Use the left arm to pick the gray bottle for holding drinks.",
+    "Pick up the bottle with rounded cap top with the left arm and shake.",
+    "Pick and shake the the light gray bottle with the left arm.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Use the left arm to grab the light gray bottle and shake.",
+    "Grab the light gray bottle and give it a shake.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Shake the light gray bottle after picking it with the left arm.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Use the left arm to pick the bottle with rounded cap top.",
+    "Pick up the gray bottle for holding drinks with the left arm and shake.",
+    "Pick and shake the the light gray bottle with the left arm.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Use the left arm to grab the bottle with rounded cap top and shake.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Shake the gray bottle for holding drinks after picking it with the left arm.",
+    "Pick up the light gray bottle and shake it.",
+    "Use the left arm to pick the light gray bottle.",
+    "Pick up the gray bottle for holding drinks with the left arm and shake.",
+    "Pick and shake the the light gray bottle with the left arm.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Use the left arm to grab the light gray bottle and shake.",
+    "Grab the gray bottle for holding drinks and give it a shake.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Shake the bottle with rounded cap top after picking it with the left arm.",
+    "Pick up the light gray bottle and shake it.",
+    "Use the left arm to pick the bottle with rounded cap top.",
+    "Pick up the bottle with rounded cap top with the left arm and shake.",
+    "Pick and shake the the bottle with rounded cap top with the left arm.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Pick up the light gray bottle and shake it.",
+    "Use the left arm to grab the light gray bottle and shake.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Shake the bottle with rounded cap top after picking it with the left arm.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Use the left arm to pick the gray bottle for holding drinks.",
+    "Pick up the gray bottle for holding drinks with the left arm and shake.",
+    "Pick and shake the the light gray bottle with the left arm.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Pick up the light gray bottle and shake it.",
+    "Use the left arm to grab the bottle with rounded cap top and shake.",
+    "Grab the gray bottle for holding drinks and give it a shake.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Shake the bottle with rounded cap top after picking it with the left arm.",
+    "Pick up the light gray bottle and shake it.",
+    "Use the left arm to pick the light gray bottle.",
+    "Pick up the light gray bottle with the left arm and shake.",
+    "Pick and shake the the gray bottle for holding drinks with the left arm.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Pick up the gray bottle for holding drinks and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005280.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005280.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bb9d236884c8f7033bf4796148636f60e2fba17
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005280.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab and shake the smooth brown bottle with green label using the left arm.",
+    "Utilize the left arm to hold the brown bottle with rounded rectangular shape and shake it.",
+    "Grab the brown bottle and shake it steadily.",
+    "Hold and shake the the plastic bottle carefully.",
+    "Shake the brown bottle after grabbing it.",
+    "Lift the medium-sized brown plastic bottle with the left arm and shake.",
+    "Grab the brown bottle and move it to shake.",
+    "Secure the rectangular brown body with white top, shake it, and place it down.",
+    "Use the left arm to grab the bottle with flat sides and logo and shake properly.",
+    "Pick up the plastic bottle and shake it well.",
+    "Use the left arm to grab the rectangular-shaped bottle with round cap and shake it.",
+    "Secure the plastic bottle and perform a shake.",
+    "Shake the bottle with flat sides and logo using the left arm after grabbing.",
+    "Lift up the plastic bottle using the left arm, then shake.",
+    "Use the left arm to pick and shake the brown bottle.",
+    "Grab the smooth brown bottle with green label firmly, shake it, and put it down.",
+    "Hold the dark brown bottle with a squared body, shake it briefly.",
+    "Use the left arm to lift and shake the brown bottle with rounded rectangular shape.",
+    "Lift the dark brown bottle with a squared body and shake it thoroughly.",
+    "Use the left arm to hold the dark brown bottle with a squared body and shake it.",
+    "Take the brown bottle with rounded rectangular shape using the left arm and give it a shake.",
+    "Shake the the dark brown bottle with a squared body properly after lifting.",
+    "Shake the smooth brown bottle with green label thoroughly after grabbing it.",
+    "Grab the brown bottle with rounded rectangular shape using the left arm, then shake.",
+    "Pick the dark brown bottle with a squared body up using the left arm and shake it.",
+    "Grab the medium bottle with glossy surface with the left arm and shake.",
+    "Pick the plastic bottle up with the left arm and shake.",
+    "Lift the bottle with flat sides and logo with the left arm and give it a shake.",
+    "Shake the bottle with green cap after holding it firmly.",
+    "Shake the brown bottle after grabbing it.",
+    "Catch the plastic bottle and shake it instantly.",
+    "Hold the smooth plastic bottle with white cap with the left arm and shake lightly.",
+    "Use the left arm to lift and shake the bottle with flat sides and logo.",
+    "Hold the medium-sized brown plastic bottle steady, then shake it.",
+    "Pick the medium-sized brown plastic bottle, shake it with the left arm.",
+    "Lift the bottle with green cap with the left arm and shake it.",
+    "Hold the smooth plastic bottle with white cap and shake it properly.",
+    "Pick the smooth plastic bottle with white cap and perform shaking motion.",
+    "Grab the bottle with flat sides and logo carefully and shake.",
+    "Shake the dark brown bottle with a squared body after lifting it.",
+    "Grip the smooth brown bottle with green label using the left arm and shake.",
+    "Shake the medium-sized brown plastic bottle firmly after grabbing.",
+    "Grasp the medium bottle with glossy surface with the left arm and shake it.",
+    "Pick up the dark brown bottle with a squared body and shake it.",
+    "Lift the medium-sized brown plastic bottle and shake it gently.",
+    "With the left arm, pick the medium-sized brown plastic bottle and shake properly.",
+    "Shake the bottle with flat sides and logo after grabbing it.",
+    "Grab the smooth plastic bottle with white cap and give it a shake.",
+    "Using the left arm, shake the bottle with flat sides and logo and then place it back.",
+    "Use the left arm to lift and shake the bottle with flat sides and logo.",
+    "Grab and shake the dark brown bottle with a squared body using the left arm.",
+    "Utilize the left arm to hold the plastic bottle and shake it.",
+    "Grab the brown bottle with rounded rectangular shape and shake it steadily.",
+    "Hold and shake the the medium bottle with glossy surface carefully.",
+    "Shake the medium-sized brown plastic bottle after grabbing it.",
+    "Lift the dark brown bottle with a squared body with the left arm and shake.",
+    "Grab the medium bottle with glossy surface and move it to shake.",
+    "Secure the brown bottle with rounded rectangular shape, shake it, and place it down.",
+    "Use the left arm to grab the smooth plastic bottle with white cap and shake properly.",
+    "Pick up the bottle with flat sides and logo and shake it well.",
+    "Use the left arm to grab the plastic bottle and shake it.",
+    "Secure the dark brown bottle with a squared body and perform a shake.",
+    "Shake the bottle with green cap using the left arm after grabbing.",
+    "Lift up the bottle with green cap using the left arm, then shake.",
+    "Use the left arm to pick and shake the smooth brown bottle with green label.",
+    "Grab the plastic bottle firmly, shake it, and put it down.",
+    "Hold the rectangular brown body with white top, shake it briefly.",
+    "Use the left arm to lift and shake the smooth plastic bottle with white cap.",
+    "Lift the bottle with green cap and shake it thoroughly.",
+    "Use the left arm to hold the dark brown bottle with a squared body and shake it.",
+    "Take the brown bottle with rounded rectangular shape using the left arm and give it a shake.",
+    "Shake the the smooth plastic bottle with white cap properly after lifting.",
+    "Shake the brown bottle thoroughly after grabbing it.",
+    "Grab the smooth brown bottle with green label using the left arm, then shake.",
+    "Pick the medium bottle with glossy surface up using the left arm and shake it.",
+    "Grab the brown bottle with the left arm and shake.",
+    "Pick the rectangular brown body with white top up with the left arm and shake.",
+    "Lift the plastic bottle with the left arm and give it a shake.",
+    "Shake the medium-sized brown plastic bottle after holding it firmly.",
+    "Shake the smooth plastic bottle with white cap after grabbing it.",
+    "Catch the smooth brown bottle with green label and shake it instantly.",
+    "Hold the brown bottle with rounded rectangular shape with the left arm and shake lightly.",
+    "Use the left arm to lift and shake the brown bottle with rounded rectangular shape.",
+    "Hold the rectangular brown body with white top steady, then shake it.",
+    "Pick the bottle with green cap, shake it with the left arm.",
+    "Lift the plastic bottle with the left arm and shake it.",
+    "Hold the brown bottle and shake it properly.",
+    "Pick the rectangular brown body with white top and perform shaking motion.",
+    "Grab the smooth brown bottle with green label carefully and shake.",
+    "Shake the smooth brown bottle with green label after lifting it.",
+    "Grip the medium bottle with glossy surface using the left arm and shake.",
+    "Shake the medium-sized brown plastic bottle firmly after grabbing.",
+    "Grasp the medium-sized brown plastic bottle with the left arm and shake it.",
+    "Pick up the plastic bottle and shake it.",
+    "Lift the brown bottle with rounded rectangular shape and shake it gently.",
+    "With the left arm, pick the medium bottle with glossy surface and shake properly.",
+    "Shake the smooth brown bottle with green label after grabbing it.",
+    "Grab the brown bottle and give it a shake.",
+    "Using the left arm, shake the medium bottle with glossy surface and then place it back.",
+    "Use the left arm to lift and shake the rectangular brown body with white top."
+  ],
+  "unseen": [
+    "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.",
+    "Use the left arm to pick the medium-sized plastic bottle with capped top.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.",
+    "Use the left arm to grab the bottle with green label and white lid and shake.",
+    "Shake the bottle with green label and white lid after picking it with the left arm.",
+    "Pick up the liquid container dark brown plastic with the left arm and shake.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Use the left arm to pick the bottle with green label and white lid.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.",
+    "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Shake the liquid container dark brown plastic after picking it with the left arm.",
+    "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.",
+    "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.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Use the left arm to pick the bottle with green label and white lid.",
+    "Pick and shake the the bottle with green label and white lid with the left arm.",
+    "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Shake the bottle with green label and white lid after picking it with the left arm.",
+    "Pick up the liquid container dark brown plastic with the left arm and shake.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Grab the medium-sized plastic bottle with capped top and give it a shake.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Use the left arm to pick the liquid container dark brown plastic.",
+    "Pick and shake the the bottle with green label and white lid with the left arm.",
+    "Use the left arm to grab the bottle with green label and white lid and shake.",
+    "Shake the bottle with green label and white lid after picking it with the left arm.",
+    "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Use the left arm to pick the liquid container dark brown plastic.",
+    "Pick and shake the the liquid container dark brown plastic with the left arm.",
+    "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.",
+    "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "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.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Use the left arm to pick the medium-sized plastic bottle with capped top.",
+    "Pick and shake the the bottle with green label and white lid with the left arm.",
+    "Use the left arm to grab the bottle with green label and white lid and shake.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.",
+    "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.",
+    "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.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Use the left arm to pick the bottle with green label and white lid.",
+    "Pick and shake the the liquid container dark brown plastic with the left arm.",
+    "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.",
+    "Pick up the liquid container dark brown plastic with the left arm and shake.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "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.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Use the left arm to pick the bottle with green label and white lid.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.",
+    "Use the left arm to grab the liquid container dark brown plastic and shake.",
+    "Shake the bottle with green label and white lid after picking it with the left arm.",
+    "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Grab the medium-sized plastic bottle with capped top and give it a shake.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Use the left arm to pick the medium-sized plastic bottle with capped top.",
+    "Pick and shake the the liquid container dark brown plastic with the left arm.",
+    "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.",
+    "Pick up the bottle with green label and white lid with the left arm and shake.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Grab the medium-sized plastic bottle with capped top and give it a shake.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Use the left arm to pick the liquid container dark brown plastic.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.",
+    "Use the left arm to grab the liquid container dark brown plastic and shake.",
+    "Shake the bottle with green label and white lid after picking it with the left arm.",
+    "Pick up the liquid container dark brown plastic with the left arm and shake.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "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.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005294.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005294.json
new file mode 100644
index 0000000000000000000000000000000000000000..e70fbb622570c933bf678674692d44105280f78b
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005294.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the rectangular bottle with cylindrical neck firmly, shake it, and put it down.",
+    "Use the left arm to pick and shake the yellow plastic bottle with white top.",
+    "With the left arm, pick the plastic bottle and shake properly.",
+    "Pick the yellow container with rounded edges up using the left arm and shake it.",
+    "Secure the bottle with green and white labels and perform a shake.",
+    "Grip the medium rectangular yellow bottle using the left arm and shake.",
+    "Hold the yellow bottle with a green design with the left arm and shake lightly.",
+    "Grasp the yellow plastic bottle with white top with the left arm and shake it.",
+    "Hold and shake the the plastic bottle carefully.",
+    "Use the left arm to lift and shake the yellow bottle with a green design.",
+    "Shake the bottle with green and white labels after grabbing it.",
+    "Use the left arm to grab the yellow bottle and shake properly.",
+    "Take the yellow bottle with a green design using the left arm and give it a shake.",
+    "Shake the bottle with white cap after grabbing it.",
+    "Shake the rectangular bottle with cylindrical neck after lifting it.",
+    "Grab and shake the bottle with green label using the left arm.",
+    "Lift up the yellow bottle using the left arm, then shake.",
+    "Use the left arm to lift and shake the yellow plastic bottle with white top.",
+    "Utilize the left arm to hold the bottle with green and white labels and shake it.",
+    "Using the left arm, shake the smooth bottle with rounded edges and then place it back.",
+    "Lift the rectangular bottle with cylindrical neck and shake it gently.",
+    "Lift the medium rectangular yellow bottle with the left arm and give it a shake.",
+    "Hold the rectangular bottle with cylindrical neck and shake it properly.",
+    "Grab the yellow bottle with a green design using the left arm, then shake.",
+    "Pick the yellow bottle with a green design and perform shaking motion.",
+    "Use the left arm to lift and shake the bottle with white cap.",
+    "Use the left arm to hold the yellow plastic bottle with white top and shake it.",
+    "Pick the yellow plastic bottle with white top, shake it with the left arm.",
+    "Lift the rectangular bottle with cylindrical neck with the left arm and shake it.",
+    "Shake the bottle with green label using the left arm after grabbing.",
+    "Hold the bottle with green label, shake it briefly.",
+    "Shake the smooth bottle with rounded edges thoroughly after grabbing it.",
+    "Catch the medium rectangular yellow bottle and shake it instantly.",
+    "Shake the medium rectangular yellow bottle firmly after grabbing.",
+    "Secure the yellow container with rounded edges, shake it, and place it down.",
+    "Use the left arm to grab the medium rectangular yellow bottle and shake it.",
+    "Pick up the medium rectangular yellow bottle and shake it well.",
+    "Pick up the bottle with green label and shake it.",
+    "Grab the bottle with white cap and move it to shake.",
+    "Grab the bottle with a smooth plastic body and give it a shake.",
+    "Lift the bottle with a smooth plastic body and shake it thoroughly.",
+    "Grab the yellow plastic bottle with white top and shake it steadily.",
+    "Shake the the bottle with green label properly after lifting.",
+    "Lift the bottle with white cap with the left arm and shake.",
+    "Hold the bottle with green label steady, then shake it.",
+    "Shake the medium rectangular yellow bottle after holding it firmly.",
+    "Shake the smooth bottle with rounded edges after grabbing it.",
+    "Pick the bottle with white cap up with the left arm and shake.",
+    "Grab the bottle with green label carefully and shake.",
+    "Grab the bottle with green and white labels with the left arm and shake.",
+    "Grab the yellow bottle with a green design firmly, shake it, and put it down.",
+    "Use the left arm to pick and shake the bottle with white cap.",
+    "With the left arm, pick the yellow plastic bottle with white top and shake properly.",
+    "Pick the bottle with a smooth plastic body up using the left arm and shake it.",
+    "Secure the bottle with green and white labels and perform a shake.",
+    "Grip the plastic bottle using the left arm and shake.",
+    "Hold the bottle with white cap with the left arm and shake lightly.",
+    "Grasp the bottle with a smooth plastic body with the left arm and shake it.",
+    "Hold and shake the the bottle with green label carefully.",
+    "Use the left arm to lift and shake the yellow bottle.",
+    "Shake the bottle with green and white labels after grabbing it.",
+    "Use the left arm to grab the medium rectangular yellow bottle and shake properly.",
+    "Take the bottle with green and white labels using the left arm and give it a shake.",
+    "Shake the yellow bottle with a green design after grabbing it.",
+    "Shake the yellow bottle with a green design after lifting it.",
+    "Grab and shake the medium rectangular yellow bottle using the left arm.",
+    "Lift up the rectangular bottle with cylindrical neck using the left arm, then shake.",
+    "Use the left arm to lift and shake the yellow bottle with a green design.",
+    "Utilize the left arm to hold the yellow plastic bottle with white top and shake it.",
+    "Using the left arm, shake the smooth bottle with rounded edges and then place it back.",
+    "Lift the medium rectangular yellow bottle and shake it gently.",
+    "Lift the yellow bottle with the left arm and give it a shake.",
+    "Hold the yellow bottle with a green design and shake it properly.",
+    "Grab the bottle with green label using the left arm, then shake.",
+    "Pick the smooth bottle with rounded edges and perform shaking motion.",
+    "Use the left arm to lift and shake the bottle with green and white labels.",
+    "Use the left arm to hold the bottle with green label and shake it.",
+    "Pick the medium rectangular yellow bottle, shake it with the left arm.",
+    "Lift the bottle with white cap with the left arm and shake it.",
+    "Shake the bottle with green and white labels using the left arm after grabbing.",
+    "Hold the bottle with white cap, shake it briefly.",
+    "Shake the smooth bottle with rounded edges thoroughly after grabbing it.",
+    "Catch the plastic bottle and shake it instantly.",
+    "Shake the yellow bottle with a green design firmly after grabbing.",
+    "Secure the bottle with green and white labels, shake it, and place it down.",
+    "Use the left arm to grab the medium rectangular yellow bottle and shake it.",
+    "Pick up the yellow plastic bottle with white top and shake it well.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the yellow container with rounded edges and move it to shake.",
+    "Grab the bottle with a smooth plastic body and give it a shake.",
+    "Lift the yellow bottle and shake it thoroughly.",
+    "Grab the bottle with green and white labels and shake it steadily.",
+    "Shake the the yellow bottle properly after lifting.",
+    "Lift the bottle with green and white labels with the left arm and shake.",
+    "Hold the yellow bottle with a green design steady, then shake it.",
+    "Shake the medium rectangular yellow bottle after holding it firmly.",
+    "Shake the bottle with green and white labels after grabbing it.",
+    "Pick the yellow bottle with a green design up with the left arm and shake.",
+    "Grab the medium rectangular yellow bottle carefully and shake.",
+    "Grab the bottle with green label with the left arm and shake."
+  ],
+  "unseen": [
+    "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.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "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 with the left arm and shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the left arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "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.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Pick and shake the the yellow rectangular bottle with the left arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the left arm to grab the yellow rectangular bottle and shake.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Use the left arm to pick the yellow bottle for liquid storage.",
+    "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 hand-sized yellow plastic bottle with the left arm and shake.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Pick and shake the the yellow bottle for liquid storage with the left arm.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Use the left arm to pick the yellow rectangular bottle.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Shake the yellow rectangular bottle after picking it with the left arm.",
+    "Pick up the yellow bottle for liquid storage with the left arm and shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Pick and shake the the yellow rectangular bottle with the left arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Use the left arm to pick the yellow bottle for liquid storage.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "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.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Pick and shake the the yellow bottle for liquid storage with the left arm.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the left arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Use the left arm to pick the yellow rectangular bottle.",
+    "Grab the hand-sized yellow plastic 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 with the left arm and shake.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the left arm.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the left arm to grab the yellow rectangular bottle and shake.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "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 with the left arm and shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Pick and shake the the yellow bottle for liquid storage with the left arm.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "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 with the left arm and shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Pick and shake the the yellow rectangular bottle with the left arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "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 with the left arm and shake.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "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 grab the yellow bottle for liquid storage and shake.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "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.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005306.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005306.json
new file mode 100644
index 0000000000000000000000000000000000000000..79621263eafa76083d4c6d6efb117fd836914ee1
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005306.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift up the cylindrical bottle with narrow neck using the right arm, then shake.",
+    "Hold the bottle with white cap and shake it properly.",
+    "Use the right arm to lift and shake the plastic bottle with printed label.",
+    "Hold the plastic bottle for liquids with the right arm and shake lightly.",
+    "Catch the bottle with brown body and white top and shake it instantly.",
+    "Utilize the right arm to hold the smooth brown bottle and shake it.",
+    "Grab the bottle with brown body and white top and give it a shake.",
+    "Grasp the bottle with brown body and white top with the right arm and shake it.",
+    "Shake the bottle with white cap after lifting it.",
+    "Pick the handheld brown bottle with white lid, shake it with the right arm.",
+    "Lift the plastic bottle with printed label with the right arm and shake it.",
+    "Shake the medium bottle with smooth texture after holding it firmly.",
+    "Lift the medium plastic bottle with the right arm and shake.",
+    "Grab the medium plastic bottle and shake it steadily.",
+    "Shake the bottle with brown body and white top after grabbing it.",
+    "Grab the medium plastic bottle firmly, shake it, and put it down.",
+    "Secure the bottle with white cap and perform a shake.",
+    "Grab and shake the bottle with white cap using the right arm.",
+    "Grab the handheld brown bottle with white lid carefully and shake.",
+    "Hold and shake the the bottle with brown body and white top carefully.",
+    "Shake the cylindrical bottle with narrow neck firmly after grabbing.",
+    "Use the right arm to grab the plastic bottle for liquids and shake properly.",
+    "Use the right arm to lift and shake the handheld brown bottle with white lid.",
+    "Hold the bottle with brown body and white top, shake it briefly.",
+    "Pick up the plastic bottle with printed label and shake it.",
+    "Lift the bottle with brown body and white top and shake it thoroughly.",
+    "Take the bottle with white cap using the right arm and give it a shake.",
+    "Shake the handheld brown bottle with white lid after grabbing it.",
+    "Use the right arm to pick and shake the smooth brown bottle.",
+    "Use the right arm to grab the medium bottle with smooth texture and shake it.",
+    "Shake the the handheld brown bottle with white lid properly after lifting.",
+    "Pick the handheld brown bottle with white lid up using the right arm and shake it.",
+    "With the right arm, pick the plastic bottle for liquids and shake properly.",
+    "Grip the bottle with dark brown color using the right arm and shake.",
+    "Lift the medium bottle with smooth texture with the right arm and give it a shake.",
+    "Pick the plastic bottle with printed label and perform shaking motion.",
+    "Shake the rounded bottle with printed details using the right arm after grabbing.",
+    "Lift the medium bottle with smooth texture and shake it gently.",
+    "Pick up the rounded bottle with printed details and shake it well.",
+    "Grab the plastic bottle for liquids and move it to shake.",
+    "Use the right arm to hold the smooth brown bottle and shake it.",
+    "Grab the bottle with white cap with the right arm and shake.",
+    "Hold the plastic bottle for liquids steady, then shake it.",
+    "Grab the smooth brown bottle using the right arm, then shake.",
+    "Shake the bottle with white cap after grabbing it.",
+    "Pick the handheld brown bottle with white lid up with the right arm and shake.",
+    "Shake the medium plastic bottle thoroughly after grabbing it.",
+    "Secure the handheld brown bottle with white lid, shake it, and place it down.",
+    "Using the right arm, shake the handheld brown bottle with white lid and then place it back.",
+    "Use the right arm to lift and shake the bottle with white cap.",
+    "Lift up the bottle with brown body and white top using the right arm, then shake.",
+    "Hold the handheld brown bottle with white lid and shake it properly.",
+    "Use the right arm to lift and shake the smooth brown bottle.",
+    "Hold the white-capped brown cylindrical bottle with the right arm and shake lightly.",
+    "Catch the medium plastic bottle and shake it instantly.",
+    "Utilize the right arm to hold the plastic bottle for liquids and shake it.",
+    "Grab the medium bottle with smooth texture and give it a shake.",
+    "Grasp the plastic bottle with printed label with the right arm and shake it.",
+    "Shake the medium plastic bottle after lifting it.",
+    "Pick the medium plastic bottle, shake it with the right arm.",
+    "Lift the medium bottle with smooth texture with the right arm and shake it.",
+    "Shake the handheld brown bottle with white lid after holding it firmly.",
+    "Lift the plastic bottle for liquids with the right arm and shake.",
+    "Grab the medium plastic bottle and shake it steadily.",
+    "Shake the plastic bottle with printed label after grabbing it.",
+    "Grab the medium bottle with smooth texture firmly, shake it, and put it down.",
+    "Secure the bottle with dark brown color and perform a shake.",
+    "Grab and shake the white-capped brown cylindrical bottle using the right arm.",
+    "Grab the smooth brown bottle carefully and shake.",
+    "Hold and shake the the bottle with dark brown color carefully.",
+    "Shake the medium plastic bottle firmly after grabbing.",
+    "Use the right arm to grab the medium plastic bottle and shake properly.",
+    "Use the right arm to lift and shake the white-capped brown cylindrical bottle.",
+    "Hold the bottle with brown body and white top, shake it briefly.",
+    "Pick up the bottle with brown body and white top and shake it.",
+    "Lift the medium bottle with smooth texture and shake it thoroughly.",
+    "Take the medium bottle with smooth texture using the right arm and give it a shake.",
+    "Shake the white-capped brown cylindrical bottle after grabbing it.",
+    "Use the right arm to pick and shake the bottle with brown body and white top.",
+    "Use the right arm to grab the handheld brown bottle with white lid and shake it.",
+    "Shake the the rounded bottle with printed details properly after lifting.",
+    "Pick the smooth brown bottle up using the right arm and shake it.",
+    "With the right arm, pick the bottle with dark brown color and shake properly.",
+    "Grip the white-capped brown cylindrical bottle using the right arm and shake.",
+    "Lift the white-capped brown cylindrical bottle with the right arm and give it a shake.",
+    "Pick the medium plastic bottle and perform shaking motion.",
+    "Shake the medium bottle with smooth texture using the right arm after grabbing.",
+    "Lift the handheld brown bottle with white lid and shake it gently.",
+    "Pick up the bottle with white cap and shake it well.",
+    "Grab the plastic bottle with printed label and move it to shake.",
+    "Use the right arm to hold the cylindrical bottle with narrow neck and shake it.",
+    "Grab the bottle with white cap with the right arm and shake.",
+    "Hold the bottle with white cap steady, then shake it.",
+    "Grab the bottle with dark brown color using the right arm, then shake.",
+    "Shake the white-capped brown cylindrical bottle after grabbing it.",
+    "Pick the rounded bottle with printed details up with the right arm and shake.",
+    "Shake the plastic bottle with printed label thoroughly after grabbing it.",
+    "Secure the bottle with dark brown color, shake it, and place it down.",
+    "Using the right arm, shake the smooth brown bottle and then place it back.",
+    "Use the right arm to lift and shake the white-capped brown cylindrical bottle."
+  ],
+  "unseen": [
+    "Grab the brown bottle and give it a shake.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Grab the brown bottle and shake it.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Use the right arm to pick the brown bottle.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Pick up the lightweight plastic brown bottle with the right arm and shake.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the brown bottle and give it a shake.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Grab the brown bottle and shake it.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Use the right arm to pick the brown cylindrical bottle with label.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Pick up the lightweight plastic brown bottle with the right arm and shake.",
+    "Use the right arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Use the right arm to pick the brown cylindrical bottle with label.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Pick up the lightweight plastic brown bottle with the right arm and shake.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Grab the brown bottle and shake it.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Grab the brown bottle and shake it.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the brown bottle and give it a shake.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Grab the brown bottle and shake it.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Use the right arm to pick the brown cylindrical bottle with label.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Use the right arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "Pick up the lightweight plastic brown bottle with the right arm and shake.",
+    "Use the right arm to grab the lightweight plastic brown bottle and shake.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Grab the brown bottle and shake it.",
+    "Shake the lightweight plastic brown bottle after picking it with the right arm.",
+    "Use the right arm to pick the brown cylindrical bottle with label.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Shake the lightweight plastic brown bottle after picking it with the right arm.",
+    "Use the right arm to pick the brown bottle.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "Use the right arm to grab the lightweight plastic brown bottle and shake.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the brown bottle and give it a shake.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Shake the lightweight plastic brown bottle after picking it with the right arm.",
+    "Use the right arm to pick the brown bottle.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005312.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005312.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5391f47d771cc2362d9b84897949ebff0b9dd4a
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005312.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the the light and medium-sized bottle properly after lifting.",
+    "Shake the cylindrical orange plastic bottle after grabbing it.",
+    "Hold the cylindrical orange plastic bottle and shake it properly.",
+    "Grab the curved orange soda bottle with the left arm and shake.",
+    "Grip the grooved orange drink bottle using the left arm and shake.",
+    "Use the left arm to lift and shake the ridged orange bottle with grooves.",
+    "Grasp the orange bottle with the left arm and shake it.",
+    "Grab the cylindrical orange plastic bottle firmly, shake it, and put it down.",
+    "Shake the light and medium-sized bottle after lifting it.",
+    "Grab the cylindrical orange plastic bottle using the left arm, then shake.",
+    "Pick up the curved orange soda bottle and shake it well.",
+    "Lift the grooved orange drink bottle and shake it gently.",
+    "Secure the smooth orange bottle, shake it, and place it down.",
+    "Use the left arm to hold the medium bottle with colorful label and shake it.",
+    "Use the left arm to lift and shake the grooved orange drink bottle.",
+    "Pick the bottle for holding drinks and perform shaking motion.",
+    "Shake the cylindrical orange plastic bottle after grabbing it.",
+    "Take the cylindrical orange plastic bottle using the left arm and give it a shake.",
+    "Use the left arm to lift and shake the bottle for holding drinks.",
+    "Hold the light and medium-sized bottle steady, then shake it.",
+    "Shake the cylindrical orange plastic bottle firmly after grabbing.",
+    "Pick up the orange drink bottle with label and shake it.",
+    "Shake the medium bottle with colorful label after holding it firmly.",
+    "Pick the cylindrical orange plastic bottle up using the left arm and shake it.",
+    "Catch the orange drink bottle with label and shake it instantly.",
+    "Grab the plastic bottle and move it to shake.",
+    "Use the left arm to grab the orange bottle and shake properly.",
+    "Grab the grooved orange drink bottle and shake it steadily.",
+    "Use the left arm to pick and shake the smooth orange bottle.",
+    "Shake the smooth orange bottle thoroughly after grabbing it.",
+    "Grab the curved orange soda bottle and give it a shake.",
+    "Grab and shake the ridged orange bottle with grooves using the left arm.",
+    "Pick the orange bottle up with the left arm and shake.",
+    "Hold the plastic bottle with the left arm and shake lightly.",
+    "Hold the grooved orange drink bottle, shake it briefly.",
+    "Utilize the left arm to hold the round-bottom bottle with white cap and shake it.",
+    "Shake the grooved orange drink bottle using the left arm after grabbing.",
+    "Lift the plastic bottle and shake it thoroughly.",
+    "With the left arm, pick the light and medium-sized bottle and shake properly.",
+    "Use the left arm to grab the ridged orange bottle with grooves and shake it.",
+    "Hold and shake the the ridged orange bottle with grooves carefully.",
+    "Lift up the ridged orange bottle with grooves using the left arm, then shake.",
+    "Pick the grooved orange drink bottle, shake it with the left arm.",
+    "Lift the round-bottom bottle with white cap with the left arm and give it a shake.",
+    "Shake the bottle for holding drinks after grabbing it.",
+    "Grab the bottle for holding drinks carefully and shake.",
+    "Lift the orange bottle with the left arm and shake.",
+    "Secure the curved orange soda bottle and perform a shake.",
+    "Using the left arm, shake the grooved orange drink bottle and then place it back.",
+    "Lift the round-bottom bottle with white cap with the left arm and shake it.",
+    "Shake the the medium bottle with colorful label properly after lifting.",
+    "Shake the bottle for holding drinks after grabbing it.",
+    "Hold the ridged orange bottle with grooves and shake it properly.",
+    "Grab the cylindrical orange plastic bottle with the left arm and shake.",
+    "Grip the plastic bottle using the left arm and shake.",
+    "Use the left arm to lift and shake the orange bottle.",
+    "Grasp the medium bottle with colorful label with the left arm and shake it.",
+    "Grab the orange bottle firmly, shake it, and put it down.",
+    "Shake the cylindrical orange plastic bottle after lifting it.",
+    "Grab the grooved orange drink bottle using the left arm, then shake.",
+    "Pick up the curved orange soda bottle and shake it well.",
+    "Lift the round-bottom bottle with white cap and shake it gently.",
+    "Secure the plastic bottle, shake it, and place it down.",
+    "Use the left arm to hold the curved orange soda bottle and shake it.",
+    "Use the left arm to lift and shake the round-bottom bottle with white cap.",
+    "Pick the curved orange soda bottle and perform shaking motion.",
+    "Shake the bottle for holding drinks 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 plastic bottle.",
+    "Hold the medium bottle with colorful label steady, then shake it.",
+    "Shake the ridged orange bottle with grooves firmly after grabbing.",
+    "Pick up the bottle for holding drinks and shake it.",
+    "Shake the bottle for holding drinks after holding it firmly.",
+    "Pick the orange drink bottle with label up using the left arm and shake it.",
+    "Catch the curved orange soda bottle and shake it instantly.",
+    "Grab the round-bottom bottle with white cap and move it to shake.",
+    "Use the left arm to grab the bottle for holding drinks and shake properly.",
+    "Grab the grooved orange drink bottle and shake it steadily.",
+    "Use the left arm to pick and shake the medium bottle with colorful label.",
+    "Shake the bottle for holding drinks thoroughly after grabbing it.",
+    "Grab the curved orange soda bottle and give it a shake.",
+    "Grab and shake the orange bottle using the left arm.",
+    "Pick the orange drink bottle with label up with the left arm and shake.",
+    "Hold the curved orange soda bottle with the left arm and shake lightly.",
+    "Hold the grooved orange drink bottle, shake it briefly.",
+    "Utilize the left arm to hold the smooth orange bottle and shake it.",
+    "Shake the smooth orange bottle using the left arm after grabbing.",
+    "Lift the curved orange soda bottle and shake it thoroughly.",
+    "With the left arm, pick the smooth orange bottle and shake properly.",
+    "Use the left arm to grab the curved orange soda bottle and shake it.",
+    "Hold and shake the the light and medium-sized bottle carefully.",
+    "Lift up the ridged orange bottle with grooves using the left arm, then shake.",
+    "Pick the grooved orange drink bottle, shake it with the left arm.",
+    "Lift the orange bottle with the left arm and give it a shake.",
+    "Shake the light and medium-sized bottle after grabbing it.",
+    "Grab the light and medium-sized bottle carefully and shake.",
+    "Lift the curved orange soda bottle with the left arm and shake.",
+    "Secure the plastic bottle and perform a shake.",
+    "Using the left arm, shake the orange bottle and then place it back.",
+    "Lift the light and medium-sized bottle with the left arm and shake it."
+  ],
+  "unseen": [
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Use the left arm to pick the bottle with ridged orange grip.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Shake the bottle with white cap after picking it with the left arm.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with ridged orange grip and shake.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with ridged orange grip with the left arm and shake.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Pick and shake the the white capped orange plastic bottle with the left arm.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Use the left arm to pick the bottle with white cap.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Shake the white capped orange plastic bottle after picking it with the left arm.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with white cap and shake.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Pick up the white capped orange plastic bottle with the left arm and shake.",
+    "Grab the bottle with white cap and shake it.",
+    "Pick and shake the the white capped orange plastic bottle with the left arm.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Use the left arm to pick the bottle with ridged orange grip.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Shake the white capped orange plastic bottle after picking it with the left arm.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with ridged orange grip and shake.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Pick up the bottle with white cap with the left arm and shake.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Pick and shake the the bottle with ridged orange grip with the left arm.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Use the left arm to pick the bottle with white cap.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Shake the white capped orange plastic bottle after picking it with the left arm.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with white cap and shake.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Pick up the bottle with white cap with the left arm and shake.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Pick and shake the the white capped orange plastic bottle with the left arm.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Use the left arm to pick the bottle with ridged orange grip.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Shake the bottle with white cap after picking it with the left arm.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with white cap and shake.",
+    "Pick up the bottle with white cap and shake it.",
+    "Pick up the bottle with ridged orange grip with the left arm and shake.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Pick and shake the the bottle with ridged orange grip with the left arm.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Use the left arm to pick the bottle with white cap.",
+    "Pick up the bottle with white cap and shake it.",
+    "Shake the bottle with ridged orange grip after picking it with the left arm.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with white cap and shake.",
+    "Pick up the bottle with white cap and shake it.",
+    "Pick up the bottle with ridged orange grip with the left arm and shake.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Pick and shake the the bottle with ridged orange grip with the left arm.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Use the left arm to pick the bottle with ridged orange grip.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Shake the bottle with ridged orange grip after picking it with the left arm.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with ridged orange grip and shake.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Pick up the white capped orange plastic bottle with the left arm and shake.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Pick and shake the the bottle with white cap with the left arm.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Use the left arm to pick the white capped orange plastic bottle.",
+    "Pick up the bottle with white cap and shake it.",
+    "Shake the bottle with white cap after picking it with the left arm.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with ridged orange grip and shake.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Pick up the bottle with white cap with the left arm and shake.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Pick and shake the the bottle with white cap with the left arm.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Use the left arm to pick the bottle with ridged orange grip.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Shake the bottle with white cap after picking it with the left arm.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the white capped orange plastic bottle and shake.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Pick up the white capped orange plastic bottle with the left arm and shake.",
+    "Grab the bottle with white cap and shake it.",
+    "Pick and shake the the bottle with white cap with the left arm.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Use the left arm to pick the white capped orange plastic bottle.",
+    "Pick up the bottle with white cap and shake it.",
+    "Shake the white capped orange plastic bottle after picking it with the left arm.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with white cap and shake.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with ridged orange grip with the left arm and shake.",
+    "Grab the bottle with white cap and shake it.",
+    "Pick and shake the the white capped orange plastic bottle with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005355.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005355.json
new file mode 100644
index 0000000000000000000000000000000000000000..411cd943b25276346165a7e71599989fecf6cf63
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005355.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the bottle with green label carefully and shake.",
+    "Pick the yellow bottle with a green design and perform shaking motion.",
+    "Shake the bottle with a smooth plastic body after grabbing it.",
+    "Pick the yellow bottle up using the left arm and shake it.",
+    "Grab the rectangular bottle with cylindrical neck and move it to shake.",
+    "Pick up the rectangular bottle with cylindrical neck and shake it well.",
+    "Pick up the plastic bottle and shake it.",
+    "With the left arm, pick the yellow plastic bottle with white top and shake properly.",
+    "Hold the yellow plastic bottle with white top, shake it briefly.",
+    "Hold and shake the the yellow bottle with a green design carefully.",
+    "Hold the plastic bottle with the left arm and shake lightly.",
+    "Shake the the bottle with green label properly after lifting.",
+    "Use the left arm to lift and shake the bottle with green and white labels.",
+    "Catch the medium rectangular yellow bottle and shake it instantly.",
+    "Hold the bottle with a smooth plastic body steady, then shake it.",
+    "Grab the smooth bottle with rounded edges and shake it steadily.",
+    "Grab the bottle with white cap using the left arm, then shake.",
+    "Grasp the bottle with green and white labels with the left arm and shake it.",
+    "Pick the smooth bottle with rounded edges up with the left arm and shake.",
+    "Shake the yellow bottle with a green design using the left arm after grabbing.",
+    "Using the left arm, shake the bottle with a smooth plastic body and then place it back.",
+    "Take the rectangular bottle with cylindrical neck using the left arm and give it a shake.",
+    "Shake the medium rectangular yellow bottle firmly after grabbing.",
+    "Grab and shake the yellow container with rounded edges using the left arm.",
+    "Shake the yellow bottle with a green design after grabbing it.",
+    "Use the left arm to grab the plastic bottle and shake properly.",
+    "Use the left arm to pick and shake the rectangular bottle with cylindrical neck.",
+    "Pick the bottle with green and white labels, shake it with the left arm.",
+    "Lift the bottle with white cap and shake it thoroughly.",
+    "Shake the bottle with green label thoroughly after grabbing it.",
+    "Secure the yellow plastic bottle with white top, shake it, and place it down.",
+    "Grab the yellow plastic bottle with white top with the left arm and shake.",
+    "Lift the bottle with green and white labels with the left arm and shake it.",
+    "Use the left arm to lift and shake the bottle with green and white labels.",
+    "Lift the bottle with green and white labels and shake it gently.",
+    "Shake the bottle with a smooth plastic body after lifting it.",
+    "Hold the bottle with green label and shake it properly.",
+    "Use the left arm to lift and shake the medium rectangular yellow bottle.",
+    "Lift the plastic bottle with the left arm and give it a shake.",
+    "Use the left arm to hold the smooth bottle with rounded edges and shake it.",
+    "Use the left arm to grab the yellow plastic bottle with white top and shake it.",
+    "Lift the yellow plastic bottle with white top with the left arm and shake.",
+    "Grip the yellow container with rounded edges using the left arm and shake.",
+    "Grab the bottle with a smooth plastic body firmly, shake it, and put it down.",
+    "Shake the yellow container with rounded edges after grabbing it.",
+    "Lift up the plastic bottle using the left arm, then shake.",
+    "Secure the yellow bottle and perform a shake.",
+    "Grab the yellow plastic bottle with white top and give it a shake.",
+    "Shake the bottle with green and white labels after holding it firmly.",
+    "Utilize the left arm to hold the bottle with white cap and shake it.",
+    "Grab the bottle with green label carefully and shake.",
+    "Pick the bottle with a smooth plastic body and perform shaking motion.",
+    "Shake the medium rectangular yellow bottle after grabbing it.",
+    "Pick the yellow container with rounded edges up using the left arm and shake it.",
+    "Grab the yellow plastic bottle with white top and move it to shake.",
+    "Pick up the yellow container with rounded edges and shake it well.",
+    "Pick up the bottle with green label and shake it.",
+    "With the left arm, pick the yellow container with rounded edges and shake properly.",
+    "Hold the medium rectangular yellow bottle, shake it briefly.",
+    "Hold and shake the the yellow bottle carefully.",
+    "Hold the yellow plastic bottle with white top with the left arm and shake lightly.",
+    "Shake the the bottle with green label properly after lifting.",
+    "Use the left arm to lift and shake the yellow plastic bottle with white top.",
+    "Catch the yellow bottle with a green design and shake it instantly.",
+    "Hold the bottle with white cap steady, then shake it.",
+    "Grab the yellow container with rounded edges and shake it steadily.",
+    "Grab the smooth bottle with rounded edges using the left arm, then shake.",
+    "Grasp the bottle with white cap with the left arm and shake it.",
+    "Pick the yellow bottle up with the left arm and shake.",
+    "Shake the rectangular bottle with cylindrical neck using the left arm after grabbing.",
+    "Using the left arm, shake the rectangular bottle with cylindrical neck and then place it back.",
+    "Take the yellow plastic bottle with white top using the left arm and give it a shake.",
+    "Shake the bottle with green and white labels firmly after grabbing.",
+    "Grab and shake the bottle with green label using the left arm.",
+    "Shake the yellow bottle after grabbing it.",
+    "Use the left arm to grab the rectangular bottle with cylindrical neck and shake properly.",
+    "Use the left arm to pick and shake the medium rectangular yellow bottle.",
+    "Pick the bottle with a smooth plastic body, shake it with the left arm.",
+    "Lift the smooth bottle with rounded edges and shake it thoroughly.",
+    "Shake the yellow bottle with a green design thoroughly after grabbing it.",
+    "Secure the yellow bottle with a green design, shake it, and place it down.",
+    "Grab the medium rectangular yellow bottle with the left arm and shake.",
+    "Lift the smooth bottle with rounded edges with the left arm and shake it.",
+    "Use the left arm to lift and shake the yellow bottle.",
+    "Lift the bottle with a smooth plastic body and shake it gently.",
+    "Shake the yellow bottle after lifting it.",
+    "Hold the smooth bottle with rounded edges and shake it properly.",
+    "Use the left arm to lift and shake the plastic bottle.",
+    "Lift the bottle with green and white labels with the left arm and give it a shake.",
+    "Use the left arm to hold the smooth bottle with rounded edges and shake it.",
+    "Use the left arm to grab the bottle with white cap and shake it.",
+    "Lift the smooth bottle with rounded edges with the left arm and shake.",
+    "Grip the yellow bottle with a green design using the left arm and shake.",
+    "Grab the medium rectangular yellow bottle firmly, shake it, and put it down.",
+    "Shake the medium rectangular yellow bottle after grabbing it.",
+    "Lift up the bottle with white cap using the left arm, then shake.",
+    "Secure the yellow plastic bottle with white top and perform a shake.",
+    "Grab the yellow bottle and give it a shake.",
+    "Shake the bottle with white cap after holding it firmly.",
+    "Utilize the left arm to hold the bottle with green label and shake it."
+  ],
+  "unseen": [
+    "Use the left arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Pick up the yellow rectangular bottle with the left arm and shake.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "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.",
+    "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 and shake it.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Pick up the hand-sized yellow plastic bottle with the left arm and shake.",
+    "Shake the yellow rectangular bottle after picking it with the left arm.",
+    "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 rectangular bottle and give it a shake.",
+    "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 bottle for liquid storage and shake it.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Pick up the yellow bottle for liquid storage with the left arm and shake.",
+    "Shake the yellow rectangular bottle after picking it with the left arm.",
+    "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 yellow bottle for liquid storage and give it a shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the left arm to grab the yellow rectangular bottle and shake.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Pick up the yellow bottle for liquid storage with the left arm and shake.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "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 yellow bottle for liquid storage and give it a shake.",
+    "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 yellow rectangular bottle and shake it.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Pick up the yellow rectangular bottle with the left arm and shake.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the left arm.",
+    "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 hand-sized yellow plastic bottle and give it a shake.",
+    "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 bottle for liquid storage and shake it.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Pick up the yellow rectangular bottle with the left arm and shake.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "Pick and shake the the yellow bottle for liquid storage with the left arm.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "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 and shake it.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Pick up the yellow rectangular bottle with the left arm and shake.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the left arm.",
+    "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 yellow rectangular bottle and give it a shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the left arm to grab the yellow rectangular bottle and shake.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Pick up the yellow rectangular bottle with the left arm and shake.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the left arm.",
+    "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.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the left arm to grab the yellow rectangular bottle and shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Pick up the yellow rectangular bottle with the left arm and shake.",
+    "Shake the yellow rectangular bottle after picking it with the left arm.",
+    "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 hand-sized yellow plastic bottle and give it a shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the left arm to grab the yellow rectangular bottle and shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Pick up the yellow rectangular bottle with the left arm and shake.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the left arm.",
+    "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 yellow bottle for liquid storage and give it a shake.",
+    "Pick up the yellow bottle for liquid storage and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006087.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006087.json
new file mode 100644
index 0000000000000000000000000000000000000000..1099e51f8400bdf0aacffce95df60d5c6303eb4a
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006087.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the medium-sized brown plastic bottle after lifting it.",
+    "Shake the rectangular-shaped bottle with round cap firmly after grabbing.",
+    "Pick up the bottle with green cap and shake it well.",
+    "Utilize the right arm to hold the smooth brown bottle with green label and shake it.",
+    "Shake the the dark brown bottle with a squared body properly after lifting.",
+    "Using the right arm, shake the brown bottle and then place it back.",
+    "Hold the smooth plastic bottle with white cap, shake it briefly.",
+    "Lift up the dark brown bottle with a squared body using the right arm, then shake.",
+    "Secure the medium-sized brown plastic bottle, shake it, and place it down.",
+    "Grab and shake the rectangular-shaped bottle with round cap using the right arm.",
+    "Shake the brown bottle with rounded rectangular shape after grabbing it.",
+    "Take the medium-sized brown plastic bottle using the right arm and give it a shake.",
+    "Lift the smooth brown bottle with green label with the right arm and shake.",
+    "With the right arm, pick the rectangular-shaped bottle with round cap and shake properly.",
+    "Use the right arm to lift and shake the rectangular-shaped bottle with round cap.",
+    "Hold and shake the the medium-sized brown plastic bottle carefully.",
+    "Pick the bottle with green cap up using the right arm and shake it.",
+    "Lift the medium-sized brown plastic bottle and shake it gently.",
+    "Grab the smooth brown bottle with green label firmly, shake it, and put it down.",
+    "Hold the medium bottle with glossy surface and shake it properly.",
+    "Use the right arm to grab the rectangular-shaped bottle with round cap and shake properly.",
+    "Catch the bottle with flat sides and logo and shake it instantly.",
+    "Grab the plastic bottle using the right arm, then shake.",
+    "Shake the bottle with flat sides and logo after holding it firmly.",
+    "Grasp the dark brown bottle with a squared body with the right arm and shake it.",
+    "Shake the rectangular-shaped bottle with round cap thoroughly after grabbing it.",
+    "Grab the bottle with flat sides and logo with the right arm and shake.",
+    "Use the right arm to lift and shake the rectangular-shaped bottle with round cap.",
+    "Lift the plastic bottle and shake it thoroughly.",
+    "Grab the plastic bottle and shake it steadily.",
+    "Shake the bottle with green cap after grabbing it.",
+    "Pick the brown bottle up with the right arm and shake.",
+    "Pick the smooth brown bottle with green label and perform shaking motion.",
+    "Shake the smooth brown bottle with green label using the right arm after grabbing.",
+    "Lift the dark brown bottle with a squared body with the right arm and shake it.",
+    "Grab the smooth brown bottle with green label carefully and shake.",
+    "Secure the bottle with flat sides and logo and perform a shake.",
+    "Shake the bottle with green cap after grabbing it.",
+    "Use the right arm to pick and shake the medium-sized brown plastic bottle.",
+    "Use the right arm to lift and shake the brown bottle with rounded rectangular shape.",
+    "Grip the brown bottle with rounded rectangular shape using the right arm and shake.",
+    "Use the right arm to hold the bottle with flat sides and logo and shake it.",
+    "Hold the bottle with green cap steady, then shake it.",
+    "Pick up the bottle with flat sides and logo and shake it.",
+    "Grab the rectangular-shaped bottle with round cap and give it a shake.",
+    "Lift the smooth brown bottle with green label with the right arm and give it a shake.",
+    "Pick the dark brown bottle with a squared body, shake it with the right arm.",
+    "Hold the dark brown bottle with a squared body with the right arm and shake lightly.",
+    "Use the right arm to grab the bottle with flat sides and logo and shake it.",
+    "Grab the bottle with green cap and move it to shake.",
+    "Shake the rectangular brown body with white top after lifting it.",
+    "Shake the bottle with green cap firmly after grabbing.",
+    "Pick up the rectangular-shaped bottle with round cap and shake it well.",
+    "Utilize the right arm to hold the smooth brown bottle with green label and shake it.",
+    "Shake the the smooth brown bottle with green label properly after lifting.",
+    "Using the right arm, shake the medium-sized brown plastic bottle and then place it back.",
+    "Hold the rectangular brown body with white top, shake it briefly.",
+    "Lift up the bottle with green cap using the right arm, then shake.",
+    "Secure the rectangular-shaped bottle with round cap, shake it, and place it down.",
+    "Grab and shake the brown bottle using the right arm.",
+    "Shake the brown bottle after grabbing it.",
+    "Take the brown bottle with rounded rectangular shape using the right arm and give it a shake.",
+    "Lift the brown bottle with rounded rectangular shape with the right arm and shake.",
+    "With the right arm, pick the plastic bottle and shake properly.",
+    "Use the right arm to lift and shake the medium-sized brown plastic bottle.",
+    "Hold and shake the the brown bottle carefully.",
+    "Pick the brown bottle up using the right arm and shake it.",
+    "Lift the smooth brown bottle with green label and shake it gently.",
+    "Grab the smooth brown bottle with green label firmly, shake it, and put it down.",
+    "Hold the brown bottle and shake it properly.",
+    "Use the right arm to grab the rectangular-shaped bottle with round cap and shake properly.",
+    "Catch the medium bottle with glossy surface and shake it instantly.",
+    "Grab the plastic bottle using the right arm, then shake.",
+    "Shake the dark brown bottle with a squared body after holding it firmly.",
+    "Grasp the rectangular-shaped bottle with round cap with the right arm and shake it.",
+    "Shake the brown bottle with rounded rectangular shape thoroughly after grabbing it.",
+    "Grab the bottle with flat sides and logo with the right arm and shake.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Lift the brown bottle and shake it thoroughly.",
+    "Grab the rectangular brown body with white top and shake it steadily.",
+    "Shake the medium-sized brown plastic bottle after grabbing it.",
+    "Pick the smooth brown bottle with green label up with the right arm and shake.",
+    "Pick the brown bottle and perform shaking motion.",
+    "Shake the bottle with green cap using the right arm after grabbing.",
+    "Lift the brown bottle with the right arm and shake it.",
+    "Grab the smooth plastic bottle with white cap carefully and shake.",
+    "Secure the rectangular-shaped bottle with round cap and perform a shake.",
+    "Shake the smooth plastic bottle with white cap after grabbing it.",
+    "Use the right arm to pick and shake the dark brown bottle with a squared body.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Grip the bottle with flat sides and logo using the right arm and shake.",
+    "Use the right arm to hold the bottle with green cap and shake it.",
+    "Hold the bottle with flat sides and logo steady, then shake it.",
+    "Pick up the brown bottle with rounded rectangular shape and shake it.",
+    "Grab the smooth brown bottle with green label and give it a shake.",
+    "Lift the brown bottle with the right arm and give it a shake.",
+    "Pick the smooth brown bottle with green label, shake it with the right arm.",
+    "Hold the plastic bottle with the right arm and shake lightly.",
+    "Use the right arm to grab the medium-sized brown plastic bottle and shake it.",
+    "Grab the plastic bottle and move it to shake."
+  ],
+  "unseen": [
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Pick up the bottle with green label and white lid with the right arm and shake.",
+    "Use the right arm to pick the bottle with green label and white lid.",
+    "Shake the bottle with green label and white lid after picking it with the right arm.",
+    "Pick and shake the the bottle with green label and white lid with the right arm.",
+    "Use the right arm to grab the bottle with green label and white lid and shake.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.",
+    "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.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.",
+    "Use the right arm to grab the bottle with green label and white lid and shake.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the 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 bottle with green label and white lid, shake it properly, then set it down.",
+    "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.",
+    "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.",
+    "Pick and shake the the liquid container dark brown plastic with the right arm.",
+    "Use the right arm to grab the bottle with green label and white lid and shake.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the medium-sized plastic bottle with capped top and give it a shake.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Pick up the liquid container dark brown plastic with the right arm and shake.",
+    "Use the right arm to pick the medium-sized plastic bottle with capped top.",
+    "Shake the liquid container dark brown plastic after picking it with the right arm.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.",
+    "Use the right arm to grab the liquid container dark brown plastic and shake.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Grab the medium-sized plastic bottle with capped top and give it a shake.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Pick up the liquid container dark brown plastic with the right arm and shake.",
+    "Use the right arm to pick the liquid container dark brown plastic.",
+    "Shake the liquid container dark brown plastic after picking it with the right arm.",
+    "Pick and shake the the bottle with green label and white lid with the right arm.",
+    "Use the right arm to grab the bottle with green label and white lid and shake.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the medium-sized plastic bottle with capped top and give it a shake.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Pick up the bottle with green label and white lid with the right arm and shake.",
+    "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.",
+    "Pick and shake the the bottle with green label and white lid with the right arm.",
+    "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the 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, shake it properly, then set it down.",
+    "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.",
+    "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.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.",
+    "Use the right arm to grab the liquid container dark brown plastic and shake.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the 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 liquid container dark brown plastic, shake it properly, then set it down.",
+    "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.",
+    "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.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.",
+    "Use the right arm to grab the liquid container dark brown plastic and shake.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Grab the bottle with green label and white lid and give it a shake.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.",
+    "Use the right arm to pick the medium-sized plastic bottle with capped top.",
+    "Shake the liquid container dark brown plastic after picking it with the right arm.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.",
+    "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 shake it.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Grab the medium-sized plastic bottle with capped top and give it a shake.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.",
+    "Use the right arm to pick the medium-sized plastic bottle with capped top.",
+    "Shake the liquid container dark brown plastic after picking it with the right arm.",
+    "Pick and shake the the liquid container dark brown plastic with the right arm.",
+    "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Grab the bottle with green label and white lid and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006097.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006097.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca23de891a6284f6a7614446bb9483355be729ef
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006097.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the beverage bottle with black body firmly after grabbing.",
+    "Pick up the drink bottle with rounded yellow lid and shake it.",
+    "Grab and shake the medium bottle with yellow cap using the right arm.",
+    "Catch the yellow-capped cylindrical bottle and shake it instantly.",
+    "Pick the plastic bottle with colorful label up using the right arm and shake it.",
+    "Pick the smooth black bottle with ridges and perform shaking motion.",
+    "Using the right arm, shake the beverage bottle with black body and then place it back.",
+    "Shake the yellow capped drink bottle after grabbing it.",
+    "Use the right arm to hold the bottle with blue and yellow print and shake it.",
+    "Lift the plastic bottle with colorful label and shake it gently.",
+    "Use the right arm to lift and shake the drink bottle with rounded yellow lid.",
+    "Grasp the black bottle with the right arm and shake it.",
+    "Pick the black bottle up with the right arm and shake.",
+    "Hold the smooth black bottle with ridges steady, then shake it.",
+    "Shake the plastic bottle with colorful label after grabbing it.",
+    "Hold the black cylindrical bottle with ridges with the right arm and shake lightly.",
+    "Lift the black cylindrical bottle with ridges with the right arm and shake it.",
+    "Grab the black bottle using the right arm, then shake.",
+    "Grip the black bottle using the right arm and shake.",
+    "Grab the yellow capped drink bottle carefully and shake.",
+    "Hold the beverage bottle with black body, shake it briefly.",
+    "Grab the medium black bottle with printed label and move it to shake.",
+    "Use the right arm to lift and shake the black plastic bottle with Pepsi logo.",
+    "Secure the smooth black bottle with ridges and perform a shake.",
+    "Secure the drink bottle with rounded yellow lid, shake it, and place it down.",
+    "Shake the black plastic bottle with Pepsi logo after lifting it.",
+    "Utilize the right arm to hold the plastic bottle with colorful label and shake it.",
+    "Grab the plastic bottle with colorful label and shake it steadily.",
+    "Use the right arm to lift and shake the medium bottle with yellow cap.",
+    "Grab the black cylindrical bottle with ridges firmly, shake it, and put it down.",
+    "Lift the bottle with blue and yellow print and shake it thoroughly.",
+    "Hold and shake the the bottle with blue and yellow print carefully.",
+    "Shake the drink bottle with rounded yellow lid thoroughly after grabbing it.",
+    "Shake the the bottle with blue and yellow print properly after lifting.",
+    "Lift the black cylindrical bottle with ridges with the right arm and give it a shake.",
+    "Grab the yellow capped drink bottle with the right arm and shake.",
+    "Use the right arm to grab the black cylindrical bottle with ridges and shake properly.",
+    "Pick up the black cylindrical bottle with ridges and shake it well.",
+    "Use the right arm to grab the black cylindrical bottle with ridges and shake it.",
+    "Lift up the medium black bottle with printed label using the right arm, then shake.",
+    "Shake the black plastic bottle with Pepsi logo after holding it firmly.",
+    "Use the right arm to pick and shake the plastic bottle with colorful label.",
+    "Shake the bottle with blue and yellow print using the right arm after grabbing.",
+    "Hold the smooth black bottle with ridges and shake it properly.",
+    "Shake the medium bottle with yellow cap after grabbing it.",
+    "With the right arm, pick the beverage bottle with black body and shake properly.",
+    "Lift the black cylindrical bottle with ridges with the right arm and shake.",
+    "Pick the plastic bottle with colorful label, shake it with the right arm.",
+    "Grab the medium bottle with yellow cap and give it a shake.",
+    "Take the yellow-capped cylindrical bottle using the right arm and give it a shake.",
+    "Shake the drink bottle with rounded yellow lid firmly after grabbing.",
+    "Pick up the black bottle and shake it.",
+    "Grab and shake the black plastic bottle with Pepsi logo using the right arm.",
+    "Catch the black plastic bottle with Pepsi logo and shake it instantly.",
+    "Pick the bottle with blue and yellow print up using the right arm and shake it.",
+    "Pick the plastic bottle with colorful label and perform shaking motion.",
+    "Using the right arm, shake the yellow-capped cylindrical bottle and then place it back.",
+    "Shake the yellow-capped cylindrical bottle after grabbing it.",
+    "Use the right arm to hold the medium black bottle with printed label and shake it.",
+    "Lift the beverage bottle with black body and shake it gently.",
+    "Use the right arm to lift and shake the yellow-capped cylindrical bottle.",
+    "Grasp the medium bottle with yellow cap with the right arm and shake it.",
+    "Pick the drink bottle with rounded yellow lid up with the right arm and shake.",
+    "Hold the beverage bottle with black body steady, then shake it.",
+    "Shake the medium bottle with yellow cap after grabbing it.",
+    "Hold the medium bottle with yellow cap with the right arm and shake lightly.",
+    "Lift the beverage bottle with black body with the right arm and shake it.",
+    "Grab the smooth black bottle with ridges using the right arm, then shake.",
+    "Grip the beverage bottle with black body using the right arm and shake.",
+    "Grab the smooth black bottle with ridges carefully and shake.",
+    "Hold the medium black bottle with printed label, shake it briefly.",
+    "Grab the medium black bottle with printed label and move it to shake.",
+    "Use the right arm to lift and shake the medium bottle with yellow cap.",
+    "Secure the yellow capped drink bottle and perform a shake.",
+    "Secure the yellow capped drink bottle, shake it, and place it down.",
+    "Shake the yellow capped drink bottle after lifting it.",
+    "Utilize the right arm to hold the smooth black bottle with ridges and shake it.",
+    "Grab the black cylindrical bottle with ridges and shake it steadily.",
+    "Use the right arm to lift and shake the bottle with blue and yellow print.",
+    "Grab the black plastic bottle with Pepsi logo firmly, shake it, and put it down.",
+    "Lift the black bottle and shake it thoroughly.",
+    "Hold and shake the the beverage bottle with black body carefully.",
+    "Shake the black bottle thoroughly after grabbing it.",
+    "Shake the the yellow capped drink bottle properly after lifting.",
+    "Lift the medium black bottle with printed label with the right arm and give it a shake.",
+    "Grab the beverage bottle with black body with the right arm and shake.",
+    "Use the right arm to grab the medium bottle with yellow cap and shake properly.",
+    "Pick up the black cylindrical bottle with ridges and shake it well.",
+    "Use the right arm to grab the bottle with blue and yellow print and shake it.",
+    "Lift up the black bottle using the right arm, then shake.",
+    "Shake the beverage bottle with black body after holding it firmly.",
+    "Use the right arm to pick and shake the bottle with blue and yellow print.",
+    "Shake the medium bottle with yellow cap using the right arm after grabbing.",
+    "Hold the black bottle and shake it properly.",
+    "Shake the bottle with blue and yellow print after grabbing it.",
+    "With the right arm, pick the drink bottle with rounded yellow lid and shake properly.",
+    "Lift the drink bottle with rounded yellow lid with the right arm and shake.",
+    "Pick the plastic bottle with colorful label, shake it with the right arm.",
+    "Grab the bottle with blue and yellow print and give it a shake.",
+    "Take the black bottle using the right arm and give it a shake."
+  ],
+  "unseen": [
+    "Grab 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 hand-sized bottle with ridged bottom and shake.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Use the right arm to pick the bottle with ridges near base.",
+    "Pick up 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.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Pick and shake the the bottle with ridges near base with the right arm.",
+    "Pick up the plastic bottle with blue label with the right arm and shake.",
+    "Grab 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 hand-sized bottle with ridged bottom and shake.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Use the right arm to pick the hand-sized bottle with ridged bottom.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Shake the bottle with ridges near base after picking it with the right arm.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Pick and shake the the bottle with ridges near base with the right arm.",
+    "Pick up the hand-sized bottle with ridged bottom with the right arm and shake.",
+    "Grab 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 plastic bottle with blue label and shake.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Use the right arm to pick the plastic bottle with blue label.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Shake the bottle with ridges near base after picking it with the right arm.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Pick and shake the the bottle with ridges near base with the right arm.",
+    "Pick up the plastic bottle with blue label with the right arm and shake.",
+    "Grab 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 hand-sized bottle with ridged bottom and shake.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Use the right arm to pick the bottle with ridges near base.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Shake the bottle with ridges near base after picking it with the right arm.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "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.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Use the right arm to grab the plastic bottle with blue label and shake.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Use the right arm to pick the bottle with ridges near base.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Shake the bottle with ridges near base after picking it with the right arm.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Pick and shake the the bottle with ridges near base with the right arm.",
+    "Pick up the plastic bottle with blue label with the right arm and shake.",
+    "Grab the plastic bottle with blue label 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, shake it properly, then set it down.",
+    "Use the right arm to pick the bottle with ridges near base.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the right arm.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "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.",
+    "Grab 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 plastic bottle with blue label and shake.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Use the right arm to pick the plastic bottle with blue label.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Shake the plastic bottle with blue label after picking it with the right arm.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "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.",
+    "Grab 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 plastic bottle with blue label and shake.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Use the right arm to pick the hand-sized bottle with ridged bottom.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Shake the bottle with ridges near base after picking it with the right arm.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "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.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Pick up 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 bottle with ridges near base, shake it properly, then set it down.",
+    "Use the right arm to pick the bottle with ridges near base.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Shake the plastic bottle with blue label after picking it with the right arm.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "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.",
+    "Grab the bottle with ridges near base 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 plastic bottle with blue label, shake it properly, then set it down.",
+    "Use the right arm to pick the plastic bottle with blue label.",
+    "Pick up 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.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "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."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006116.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006116.json
new file mode 100644
index 0000000000000000000000000000000000000000..dce1444267799f0ca67bc173137a3c4c8d03a045
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006116.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the medium plastic bottle and shake properly.",
+    "Shake the plastic bottle with printed label thoroughly after grabbing it.",
+    "Use the left arm to grab the rounded bottle with printed details and shake it.",
+    "Grab the white-capped brown cylindrical bottle carefully and shake.",
+    "Shake the the white-capped brown cylindrical bottle properly after lifting.",
+    "Grab and shake the handheld brown bottle with white lid using the left arm.",
+    "Shake the cylindrical bottle with narrow neck after grabbing it.",
+    "Grasp the bottle with brown body and white top with the left arm and shake it.",
+    "Catch the plastic bottle for liquids and shake it instantly.",
+    "Lift the medium bottle with smooth texture and shake it gently.",
+    "Pick up the rounded bottle with printed details and shake it well.",
+    "Use the left arm to pick and shake the rounded bottle with printed details.",
+    "Grab the plastic bottle for liquids firmly, shake it, and put it down.",
+    "Using the left arm, shake the smooth brown bottle and then place it back.",
+    "Shake the white-capped brown cylindrical bottle after lifting it.",
+    "Shake the plastic bottle with printed label firmly after grabbing.",
+    "Grab the plastic bottle with printed label with the left arm and shake.",
+    "Use the left arm to lift and shake the medium bottle with smooth texture.",
+    "Shake the plastic bottle for liquids after holding it firmly.",
+    "With the left arm, pick the cylindrical bottle with narrow neck and shake properly.",
+    "Shake the handheld brown bottle with white lid after grabbing it.",
+    "Hold the bottle with dark brown color steady, then shake it.",
+    "Secure the rounded bottle with printed details and perform a shake.",
+    "Pick the plastic bottle with printed label up with the left arm and shake.",
+    "Grip the smooth brown bottle using the left arm and shake.",
+    "Grab the plastic bottle for liquids and shake it steadily.",
+    "Use the left arm to lift and shake the plastic bottle for liquids.",
+    "Hold the handheld brown bottle with white lid with the left arm and shake lightly.",
+    "Hold the white-capped brown cylindrical bottle, shake it briefly.",
+    "Hold and shake the the plastic bottle with printed label carefully.",
+    "Grab the smooth brown bottle and move it to shake.",
+    "Grab the cylindrical bottle with narrow neck and give it a shake.",
+    "Lift the white-capped brown cylindrical bottle with the left arm and shake.",
+    "Utilize the left arm to hold the cylindrical bottle with narrow neck and shake it.",
+    "Shake the medium plastic bottle after grabbing it.",
+    "Lift the plastic bottle with printed label with the left arm and shake it.",
+    "Lift up the plastic bottle with printed label using the left arm, then shake.",
+    "Shake the plastic bottle for liquids using the left arm after grabbing.",
+    "Pick the bottle with dark brown color, shake it with the left arm.",
+    "Secure the bottle with brown body and white top, shake it, and place it down.",
+    "Hold the rounded bottle with printed details and shake it properly.",
+    "Use the left arm to lift and shake the bottle with white cap.",
+    "Pick up the plastic bottle for liquids and shake it.",
+    "Grab the white-capped brown cylindrical bottle using the left arm, then shake.",
+    "Lift the bottle with white cap with the left arm and give it a shake.",
+    "Use the left arm to hold the bottle with dark brown color and shake it.",
+    "Pick the handheld brown bottle with white lid up using the left arm and shake it.",
+    "Pick the bottle with brown body and white top and perform shaking motion.",
+    "Lift the plastic bottle for liquids and shake it thoroughly.",
+    "Take the smooth brown bottle using the left arm and give it a shake.",
+    "Use the left arm to grab the plastic bottle for liquids and shake properly.",
+    "Shake the plastic bottle for liquids thoroughly after grabbing it.",
+    "Use the left arm to grab the plastic bottle with printed label and shake it.",
+    "Grab the rounded bottle with printed details carefully and shake.",
+    "Shake the the bottle with dark brown color properly after lifting.",
+    "Grab and shake the medium plastic bottle using the left arm.",
+    "Shake the smooth brown bottle after grabbing it.",
+    "Grasp the handheld brown bottle with white lid with the left arm and shake it.",
+    "Catch the medium bottle with smooth texture and shake it instantly.",
+    "Lift the plastic bottle with printed label and shake it gently.",
+    "Pick up the medium bottle with smooth texture and shake it well.",
+    "Use the left arm to pick and shake the handheld brown bottle with white lid.",
+    "Grab the rounded bottle with printed details firmly, shake it, and put it down.",
+    "Using the left arm, shake the bottle with white cap and then place it back.",
+    "Shake the smooth brown bottle after lifting it.",
+    "Shake the bottle with dark brown color firmly after grabbing.",
+    "Grab the plastic bottle with printed label with the left arm and shake.",
+    "Use the left arm to lift and shake the rounded bottle with printed details.",
+    "Shake the bottle with dark brown color after holding it firmly.",
+    "With the left arm, pick the bottle with brown body and white top and shake properly.",
+    "Shake the bottle with white cap after grabbing it.",
+    "Hold the bottle with dark brown color steady, then shake it.",
+    "Secure the medium bottle with smooth texture and perform a shake.",
+    "Pick the medium bottle with smooth texture up with the left arm and shake.",
+    "Grip the handheld brown bottle with white lid using the left arm and shake.",
+    "Grab the plastic bottle with printed label and shake it steadily.",
+    "Use the left arm to lift and shake the medium plastic bottle.",
+    "Hold the cylindrical bottle with narrow neck with the left arm and shake lightly.",
+    "Hold the smooth brown bottle, shake it briefly.",
+    "Hold and shake the the rounded bottle with printed details carefully.",
+    "Grab the medium bottle with smooth texture and move it to shake.",
+    "Grab the plastic bottle for liquids and give it a shake.",
+    "Lift the bottle with dark brown color with the left arm and shake.",
+    "Utilize the left arm to hold the handheld brown bottle with white lid and shake it.",
+    "Shake the white-capped brown cylindrical bottle after grabbing it.",
+    "Lift the bottle with brown body and white top with the left arm and shake it.",
+    "Lift up the bottle with dark brown color using the left arm, then shake.",
+    "Shake the bottle with white cap using the left arm after grabbing.",
+    "Pick the medium plastic bottle, shake it with the left arm.",
+    "Secure the handheld brown bottle with white lid, shake it, and place it down.",
+    "Hold the bottle with dark brown color and shake it properly.",
+    "Use the left arm to lift and shake the white-capped brown cylindrical bottle.",
+    "Pick up the medium plastic bottle and shake it.",
+    "Grab the medium bottle with smooth texture using the left arm, then shake.",
+    "Lift the medium bottle with smooth texture with the left arm and give it a shake.",
+    "Use the left arm to hold the bottle with white cap and shake it.",
+    "Pick the medium bottle with smooth texture up using the left arm and shake it.",
+    "Pick the bottle with brown body and white top and perform shaking motion.",
+    "Lift the plastic bottle with printed label and shake it thoroughly.",
+    "Take the plastic bottle with printed label using the left arm and give it a shake."
+  ],
+  "unseen": [
+    "Pick and shake the the lightweight plastic brown bottle with the left arm.",
+    "Use the left arm to pick the brown cylindrical bottle with label.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the brown bottle with the left arm and shake.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Shake the brown bottle after picking it with the left arm.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the brown cylindrical bottle with label and shake.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Pick and shake the the lightweight plastic brown bottle with the left arm.",
+    "Use the left arm to pick the lightweight plastic brown bottle.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the brown cylindrical bottle with label with the left arm and shake.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Shake the brown cylindrical bottle with label after picking it with the left arm.",
+    "Grab the brown bottle and shake it.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Use the left arm to pick the brown bottle.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick up the brown bottle with the left arm and shake.",
+    "Pick up the brown bottle and shake it.",
+    "Shake the brown cylindrical bottle with label after picking it with the left arm.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Use the left arm to grab the brown cylindrical bottle with label and shake.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Pick and shake the the lightweight plastic brown bottle with the left arm.",
+    "Use the left arm to pick the brown bottle.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the brown bottle with the left arm and shake.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Shake the brown bottle after picking it with the left arm.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Pick and shake the the brown cylindrical bottle with label with the left arm.",
+    "Use the left arm to pick the lightweight plastic brown bottle.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the brown cylindrical bottle with label with the left arm and shake.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Shake the brown bottle after picking it with the left arm.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Use the left arm to grab the brown cylindrical bottle with label and shake.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Pick and shake the the lightweight plastic brown bottle with the left arm.",
+    "Use the left arm to pick the lightweight plastic brown bottle.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the brown bottle with the left arm and shake.",
+    "Pick up the brown bottle and shake it.",
+    "Shake the brown bottle after picking it with the left arm.",
+    "Grab the brown bottle and shake it.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Pick and shake the the lightweight plastic brown bottle with the left arm.",
+    "Use the left arm to pick the brown bottle.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle with the left arm and shake.",
+    "Pick up the brown bottle and shake it.",
+    "Shake the lightweight plastic brown bottle after picking it with the left arm.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the brown cylindrical bottle with label and shake.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Use the left arm to pick the brown cylindrical bottle with label.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick up the brown cylindrical bottle with label with the left arm and shake.",
+    "Pick up the brown bottle and shake it.",
+    "Shake the brown bottle after picking it with the left arm.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Use the left arm to grab the lightweight plastic brown bottle and shake.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Pick and shake the the lightweight plastic brown bottle with the left arm.",
+    "Use the left arm to pick the brown bottle.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle with the left arm and shake.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Shake the brown bottle after picking it with the left arm.",
+    "Grab the brown bottle and shake it.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Use the left arm to grab the brown cylindrical bottle with label and shake.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick and shake the the lightweight plastic brown bottle with the left arm.",
+    "Use the left arm to pick the brown bottle.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the brown cylindrical bottle with label with the left arm and shake.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Shake the lightweight plastic brown bottle after picking it with the left arm.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Grab the lightweight plastic brown bottle and give it a shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006123.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006123.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7b316bcb9703e709ac20c45834243866cf7b29a
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006123.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the ridged orange bottle with grooves carefully and shake.",
+    "Hold the orange drink bottle with label and shake it properly.",
+    "Pick the smooth orange bottle up using the left arm and shake it.",
+    "Lift the orange bottle and shake it gently.",
+    "Take the light and medium-sized bottle using the left arm and give it a shake.",
+    "Lift the cylindrical orange plastic bottle with the left arm and give it a shake.",
+    "Catch the grooved orange drink bottle and shake it instantly.",
+    "Lift the plastic bottle with the left arm and shake.",
+    "Lift the cylindrical orange plastic bottle and shake it thoroughly.",
+    "With the left arm, pick the orange bottle and shake properly.",
+    "Shake the smooth orange bottle firmly after grabbing.",
+    "Shake the the round-bottom bottle with white cap properly after lifting.",
+    "Pick the orange bottle up with the left arm and shake.",
+    "Lift the plastic bottle with the left arm and shake it.",
+    "Utilize the left arm to hold the medium bottle with colorful label and shake it.",
+    "Hold the medium bottle with colorful label with the left arm and shake lightly.",
+    "Use the left arm to hold the medium bottle with colorful label and shake it.",
+    "Use the left arm to lift and shake the light and medium-sized bottle.",
+    "Shake the medium bottle with colorful label after grabbing it.",
+    "Using the left arm, shake the orange drink bottle with label and then place it back.",
+    "Grip the orange bottle using the left arm and shake.",
+    "Shake the cylindrical orange plastic bottle thoroughly after grabbing it.",
+    "Use the left arm to lift and shake the curved orange soda bottle.",
+    "Lift up the light and medium-sized bottle using the left arm, then shake.",
+    "Hold the bottle for holding drinks steady, then shake it.",
+    "Hold the plastic bottle, shake it briefly.",
+    "Use the left arm to grab the smooth orange bottle and shake it.",
+    "Pick up the ridged orange bottle with grooves and shake it well.",
+    "Shake the smooth orange bottle using the left arm after grabbing.",
+    "Shake the orange drink bottle with label after lifting it.",
+    "Secure the curved orange soda bottle and perform a shake.",
+    "Pick the medium bottle with colorful label and perform shaking motion.",
+    "Grab the medium bottle with colorful label using the left arm, then shake.",
+    "Hold and shake the the orange bottle carefully.",
+    "Shake the grooved orange drink bottle after grabbing it.",
+    "Shake the curved orange soda bottle after holding it firmly.",
+    "Use the left arm to grab the grooved orange drink bottle and shake properly.",
+    "Grab the ridged orange bottle with grooves and give it a shake.",
+    "Shake the plastic bottle after grabbing it.",
+    "Pick the orange bottle, shake it with the left arm.",
+    "Grab the cylindrical orange plastic bottle and shake it steadily.",
+    "Use the left arm to lift and shake the plastic bottle.",
+    "Grab the medium bottle with colorful label with the left arm and shake.",
+    "Pick up the orange drink bottle with label and shake it.",
+    "Grab and shake the curved orange soda bottle using the left arm.",
+    "Grab the grooved orange drink bottle firmly, shake it, and put it down.",
+    "Grasp the plastic bottle with the left arm and shake it.",
+    "Secure the plastic bottle, shake it, and place it down.",
+    "Grab the light and medium-sized bottle and move it to shake.",
+    "Use the left arm to pick and shake the grooved orange drink bottle.",
+    "Grab the ridged orange bottle with grooves carefully and shake.",
+    "Hold the light and medium-sized bottle and shake it properly.",
+    "Pick the orange drink bottle with label up using the left arm and shake it.",
+    "Lift the bottle for holding drinks and shake it gently.",
+    "Take the light and medium-sized bottle using the left arm and give it a shake.",
+    "Lift the orange drink bottle with label with the left arm and give it a shake.",
+    "Catch the round-bottom bottle with white cap and shake it instantly.",
+    "Lift the curved orange soda bottle with the left arm and shake.",
+    "Lift the medium bottle with colorful label and shake it thoroughly.",
+    "With the left arm, pick the bottle for holding drinks and shake properly.",
+    "Shake the grooved orange drink bottle firmly after grabbing.",
+    "Shake the the curved orange soda bottle properly after lifting.",
+    "Pick the smooth orange bottle up with the left arm and shake.",
+    "Lift the plastic bottle with the left arm and shake it.",
+    "Utilize the left arm to hold the ridged orange bottle with grooves and shake it.",
+    "Hold the round-bottom bottle with white cap with the left arm and shake lightly.",
+    "Use the left arm to hold the orange bottle and shake it.",
+    "Use the left arm to lift and shake the plastic bottle.",
+    "Shake the bottle for holding drinks after grabbing it.",
+    "Using the left arm, shake the round-bottom bottle with white cap and then place it back.",
+    "Grip the orange bottle using the left arm and shake.",
+    "Shake the curved orange soda bottle thoroughly after grabbing it.",
+    "Use the left arm to lift and shake the medium bottle with colorful label.",
+    "Lift up the medium bottle with colorful label using the left arm, then shake.",
+    "Hold the orange bottle steady, then shake it.",
+    "Hold the medium bottle with colorful label, shake it briefly.",
+    "Use the left arm to grab the ridged orange bottle with grooves and shake it.",
+    "Pick up the orange drink bottle with label and shake it well.",
+    "Shake the curved orange soda bottle using the left arm after grabbing.",
+    "Shake the orange bottle after lifting it.",
+    "Secure the grooved orange drink bottle and perform a shake.",
+    "Pick the bottle for holding drinks and perform shaking motion.",
+    "Grab the smooth orange bottle using the left arm, then shake.",
+    "Hold and shake the the bottle for holding drinks carefully.",
+    "Shake the round-bottom bottle with white cap after grabbing it.",
+    "Shake the light and medium-sized bottle after holding it firmly.",
+    "Use the left arm to grab the plastic bottle and shake properly.",
+    "Grab the curved orange soda bottle and give it a shake.",
+    "Shake the medium bottle with colorful label after grabbing it.",
+    "Pick the medium bottle with colorful label, shake it with the left arm.",
+    "Grab the curved orange soda bottle and shake it steadily.",
+    "Use the left arm to lift and shake the ridged orange bottle with grooves.",
+    "Grab the round-bottom bottle with white cap with the left arm and shake.",
+    "Pick up the light and medium-sized bottle and shake it.",
+    "Grab and shake the ridged orange bottle with grooves using the left arm.",
+    "Grab the orange bottle firmly, shake it, and put it down.",
+    "Grasp the smooth orange bottle with the left arm and shake it.",
+    "Secure the smooth orange bottle, shake it, and place it down.",
+    "Grab the round-bottom bottle with white cap and move it to shake.",
+    "Use the left arm to pick and shake the grooved orange drink bottle."
+  ],
+  "unseen": [
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with ridged orange grip and shake.",
+    "Pick up the bottle with ridged orange grip with the left arm and shake.",
+    "Shake the bottle with ridged orange grip after picking it with the left arm.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Pick and shake the the bottle with white cap with the left arm.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Use the left arm to pick the bottle with ridged orange grip.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with ridged orange grip and shake.",
+    "Pick up the bottle with ridged orange grip with the left arm and shake.",
+    "Shake the bottle with white cap after picking it with the left arm.",
+    "Pick up the bottle with white cap and shake it.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Grab the bottle with white cap and shake it.",
+    "Pick and shake the the white capped orange plastic bottle with the left arm.",
+    "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 white capped orange plastic bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with ridged orange grip and shake.",
+    "Pick up the bottle with white cap with the left arm and shake.",
+    "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.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the bottle with white cap and shake it.",
+    "Pick and shake the the white capped orange plastic bottle with the left arm.",
+    "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, shake it properly, then set it down.",
+    "Use the left arm to grab the white capped orange plastic bottle and shake.",
+    "Pick up the bottle with ridged orange grip with the left arm and shake.",
+    "Shake the bottle with ridged orange grip after picking it with the left arm.",
+    "Pick up the bottle with white cap and shake it.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Pick and shake the the bottle with white cap with the left arm.",
+    "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 bottle with white cap, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with ridged orange grip and shake.",
+    "Pick up the bottle with white cap with the left arm and shake.",
+    "Shake the bottle with ridged orange grip after picking it with the left arm.",
+    "Pick up the bottle with white cap and shake it.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the bottle with white cap and shake it.",
+    "Pick and shake the the bottle with ridged orange grip with the left arm.",
+    "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 white cap, shake it properly, then set it down.",
+    "Use the left arm to grab the white capped orange plastic bottle and shake.",
+    "Pick up the bottle with white cap with the left arm and shake.",
+    "Shake the bottle with white cap after picking it with the left arm.",
+    "Pick up the bottle with white cap and shake it.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Pick and shake the the bottle with ridged orange grip with the left arm.",
+    "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 bottle with white cap, shake it properly, then set it down.",
+    "Use the left arm to grab the white capped orange plastic bottle and shake.",
+    "Pick up the bottle with ridged orange grip with the left arm and shake.",
+    "Shake the bottle with white cap after picking it with the left arm.",
+    "Pick up the bottle with white cap and shake it.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Pick and shake the the bottle with ridged orange grip with the left arm.",
+    "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, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with ridged orange grip and shake.",
+    "Pick up the white capped orange plastic bottle with the left arm and shake.",
+    "Shake the bottle with white cap after picking it with the left arm.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the bottle with white cap and shake it.",
+    "Pick and shake the the bottle with white cap with the left arm.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Use the left arm to pick the bottle with ridged orange grip.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with white cap and shake.",
+    "Pick up the bottle with ridged orange grip with the left arm and shake.",
+    "Shake the bottle with white cap after picking it with the left arm.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Pick and shake the the white capped orange plastic bottle with the left arm.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Use the left arm to pick the white capped orange plastic bottle.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with white cap and shake.",
+    "Pick up the bottle with ridged orange grip with the left arm and shake.",
+    "Shake the bottle with white cap after picking it with the left arm.",
+    "Pick up the bottle with white cap and shake it.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Pick and shake the the bottle with white cap with the left arm.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Use the left arm to pick the white capped orange plastic bottle."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006229.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006229.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5e2e66c71a8615126358574e1d0d13a5d2c0884
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006229.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the right arm, shake the bottle with yellow cap and then place it back.",
+    "Shake the the orange cylindrical bottle properly after lifting.",
+    "Grab the bottle with printed label and move it to shake.",
+    "Secure the yellow-capped plastic bottle and perform a shake.",
+    "Pick the yellow-capped plastic bottle and perform shaking motion.",
+    "Lift the bottle with yellow cap and shake it gently.",
+    "Lift the plastic bottle with the right arm and shake.",
+    "Shake the smooth plastic bottle after lifting it.",
+    "Shake the plastic bottle firmly after grabbing.",
+    "Pick the cylindrical orange bottle with yellow top, shake it with the right arm.",
+    "Lift the smooth plastic bottle with the right arm and give it a shake.",
+    "Grab the bottle for liquids using the right arm, then shake.",
+    "Shake the bottle with yellow cap after grabbing it.",
+    "Catch the plastic bottle with sealed yellow cap and shake it instantly.",
+    "Use the right arm to lift and shake the orange bottle.",
+    "Hold the plastic bottle with sealed yellow cap with the right arm and shake lightly.",
+    "Hold the cylindrical orange bottle with yellow top and shake it properly.",
+    "Pick the bottle with yellow cap up with the right arm and shake.",
+    "Shake the orange cylindrical bottle using the right arm after grabbing.",
+    "Pick up the orange cylindrical bottle and shake it well.",
+    "Lift the bottle with yellow cap and shake it thoroughly.",
+    "Use the right arm to lift and shake the bottle with yellow cap.",
+    "Hold the bottle for liquids steady, then shake it.",
+    "Use the right arm to grab the cylindrical orange bottle with yellow top and shake it.",
+    "Grasp the orange bottle with the right arm and shake it.",
+    "With the right arm, pick the medium-sized orange bottle and shake properly.",
+    "Lift up the bottle with narrow neck using the right arm, then shake.",
+    "Use the right arm to pick and shake the bottle with printed label.",
+    "Shake the smooth plastic bottle thoroughly after grabbing it.",
+    "Grip the bottle with yellow cap using the right arm and shake.",
+    "Use the right arm to hold the orange cylindrical bottle and shake it.",
+    "Shake the bottle for liquids after grabbing it.",
+    "Pick up the medium-sized orange bottle and shake it.",
+    "Take the orange cylindrical bottle using the right arm and give it a shake.",
+    "Grab the plastic bottle with sealed yellow cap and give it a shake.",
+    "Grab the yellow-capped plastic bottle firmly, shake it, and put it down.",
+    "Lift the orange cylindrical bottle with the right arm and shake it.",
+    "Hold the smooth plastic bottle, shake it briefly.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Use the right arm to grab the smooth plastic bottle and shake properly.",
+    "Grab the bottle with yellow cap carefully and shake.",
+    "Grab and shake the yellow-capped plastic bottle using the right arm.",
+    "Shake the yellow-capped plastic bottle after grabbing it.",
+    "Secure the orange bottle, shake it, and place it down.",
+    "Pick the bottle with narrow neck up using the right arm and shake it.",
+    "Grab the bottle with printed label with the right arm and shake.",
+    "Hold and shake the the yellow-capped plastic bottle carefully.",
+    "Shake the plastic bottle after holding it firmly.",
+    "Utilize the right arm to hold the yellow-capped plastic bottle and shake it.",
+    "Grab the bottle with yellow cap and shake it steadily.",
+    "Using the right arm, shake the bottle with yellow cap and then place it back.",
+    "Shake the the bottle with narrow neck properly after lifting.",
+    "Grab the orange bottle and move it to shake.",
+    "Secure the cylindrical orange bottle with yellow top and perform a shake.",
+    "Pick the bottle with printed label and perform shaking motion.",
+    "Lift the yellow-capped plastic bottle and shake it gently.",
+    "Lift the bottle with printed label with the right arm and shake.",
+    "Shake the bottle with narrow neck after lifting it.",
+    "Shake the plastic bottle firmly after grabbing.",
+    "Pick the orange bottle, shake it with the right arm.",
+    "Lift the smooth plastic bottle with the right arm and give it a shake.",
+    "Grab the yellow-capped plastic bottle using the right arm, then shake.",
+    "Shake the orange cylindrical bottle after grabbing it.",
+    "Catch the cylindrical orange bottle with yellow top and shake it instantly.",
+    "Use the right arm to lift and shake the cylindrical orange bottle with yellow top.",
+    "Hold the cylindrical orange bottle with yellow top with the right arm and shake lightly.",
+    "Hold the smooth plastic bottle and shake it properly.",
+    "Pick the plastic bottle up with the right arm and shake.",
+    "Shake the plastic bottle using the right arm after grabbing.",
+    "Pick up the bottle for liquids and shake it well.",
+    "Lift the orange bottle and shake it thoroughly.",
+    "Use the right arm to lift and shake the yellow-capped plastic bottle.",
+    "Hold the orange bottle steady, then shake it.",
+    "Use the right arm to grab the yellow-capped plastic bottle and shake it.",
+    "Grasp the plastic bottle with the right arm and shake it.",
+    "With the right arm, pick the bottle with printed label and shake properly.",
+    "Lift up the orange cylindrical bottle using the right arm, then shake.",
+    "Use the right arm to pick and shake the smooth plastic bottle.",
+    "Shake the medium-sized orange bottle thoroughly after grabbing it.",
+    "Grip the bottle with narrow neck using the right arm and shake.",
+    "Use the right arm to hold the bottle for liquids and shake it.",
+    "Shake the plastic bottle after grabbing it.",
+    "Pick up the yellow-capped plastic bottle and shake it.",
+    "Take the orange bottle using the right arm and give it a shake.",
+    "Grab the cylindrical orange bottle with yellow top and give it a shake.",
+    "Grab the bottle for liquids firmly, shake it, and put it down.",
+    "Lift the bottle with printed label with the right arm and shake it.",
+    "Hold the plastic bottle with sealed yellow cap, shake it briefly.",
+    "Use the right arm to lift and shake the medium-sized orange bottle.",
+    "Use the right arm to grab the smooth plastic bottle and shake properly.",
+    "Grab the bottle with narrow neck carefully and shake.",
+    "Grab and shake the bottle with narrow neck using the right arm.",
+    "Shake the bottle for liquids after grabbing it.",
+    "Secure the orange cylindrical bottle, shake it, and place it down.",
+    "Pick the bottle for liquids up using the right arm and shake it.",
+    "Grab the bottle for liquids with the right arm and shake.",
+    "Hold and shake the the yellow-capped plastic bottle carefully.",
+    "Shake the smooth plastic bottle after holding it firmly.",
+    "Utilize the right arm to hold the plastic bottle with sealed yellow cap and shake it.",
+    "Grab the bottle with yellow cap and shake it steadily."
+  ],
+  "unseen": [
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the right arm.",
+    "Shake the label-covered orange bottle after picking it with the right arm.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Pick up the label-covered orange bottle with the right arm and shake.",
+    "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.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the right arm.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "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.",
+    "Grab the orange bottle with smooth texture, 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 and shake the the handheld orange bottle with the right arm.",
+    "Shake the orange bottle with smooth texture after picking it with the right arm.",
+    "Use the right arm to pick the orange bottle with smooth texture.",
+    "Pick up the label-covered orange bottle with the right arm and shake.",
+    "Grab the handheld orange bottle 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.",
+    "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 and shake the the handheld orange bottle with the right arm.",
+    "Shake the orange bottle with smooth texture after picking it with the right arm.",
+    "Use the right arm to pick the orange bottle with smooth texture.",
+    "Pick up the label-covered orange bottle with the right arm and shake.",
+    "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.",
+    "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 and shake the the label-covered orange bottle with the right arm.",
+    "Shake the label-covered orange bottle after picking it with the right arm.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "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.",
+    "Grab the handheld 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 and shake the the handheld orange bottle with the right arm.",
+    "Shake the orange bottle with smooth texture after picking it with the right arm.",
+    "Use the right arm to pick the orange bottle with smooth texture.",
+    "Pick up the label-covered orange bottle with the right arm and shake.",
+    "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.",
+    "Grab the handheld 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 and shake the the handheld orange bottle with the right arm.",
+    "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.",
+    "Pick up the label-covered orange bottle with the right arm and shake.",
+    "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.",
+    "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 orange bottle with smooth texture and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the right arm.",
+    "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.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "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.",
+    "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 and shake the the handheld orange bottle with the right arm.",
+    "Shake the orange bottle with smooth texture after picking it with the right arm.",
+    "Use the right arm to pick the orange bottle with smooth texture.",
+    "Pick up the label-covered orange bottle with the right arm and shake.",
+    "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.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the right arm.",
+    "Shake the orange bottle with smooth texture after picking it with the right arm.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake.",
+    "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 handheld orange bottle and give it a shake.",
+    "Grab the handheld orange bottle, shake it properly, then set it down."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006238.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006238.json
new file mode 100644
index 0000000000000000000000000000000000000000..2636e5cba85c11317ed5e3593e090cd96cc94e7b
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006238.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the hand-sized bottle with grooves firmly after grabbing.",
+    "Hold the cylindrical bottle with white label and shake it properly.",
+    "Use the right arm to hold the small drink bottle with logo and shake it.",
+    "Grab the plastic bottle with ribbed pattern carefully and shake.",
+    "Use the right arm to pick and shake the green-capped bottle.",
+    "Pick the bottle with tapered cylindrical shape and perform shaking motion.",
+    "Pick the brown bottle with white printed label, shake it with the right arm.",
+    "Utilize the right arm to hold the hand-sized bottle with grooves and shake it.",
+    "Grab the smooth plastic bottle for beverages using the right arm, then shake.",
+    "Lift the cylindrical bottle with white label and shake it thoroughly.",
+    "Lift up the plastic bottle with ribbed pattern using the right arm, then shake.",
+    "Pick up the hand-sized bottle with grooves and shake it well.",
+    "Secure the small brown plastic bottle and perform a shake.",
+    "Lift the brown bottle with white printed label with the right arm and shake.",
+    "Shake the brown bottle with white printed label using the right arm after grabbing.",
+    "Grab and shake the plastic bottle with ribbed pattern using the right arm.",
+    "Lift the smooth plastic bottle for beverages with the right arm and shake it.",
+    "Shake the smooth plastic bottle for beverages after grabbing it.",
+    "Lift the brown bottle with green screw-on cap with the right arm and give it a shake.",
+    "Shake the brown bottle after holding it firmly.",
+    "Lift the plastic bottle with ribbed pattern and shake it gently.",
+    "Use the right arm to grab the cylindrical bottle with white label and shake properly.",
+    "Catch the bottle with green cap and shake it instantly.",
+    "Shake the bottle with green cap after lifting it.",
+    "Grasp the brown bottle with green screw-on cap with the right arm and shake it.",
+    "Use the right arm to grab the small brown plastic bottle and shake it.",
+    "Grab the brown bottle with white printed label and shake it steadily.",
+    "Secure the hand-sized bottle with grooves, shake it, and place it down.",
+    "Using the right arm, shake the brown bottle and then place it back.",
+    "Grab the bottle with tapered cylindrical shape and move it to shake.",
+    "Use the right arm to lift and shake the small drink bottle with logo.",
+    "Hold and shake the the small brown plastic bottle carefully.",
+    "Shake the the small brown plastic bottle properly after lifting.",
+    "Hold the smooth plastic bottle for beverages, shake it briefly.",
+    "Pick up the smooth plastic bottle for beverages and shake it.",
+    "With the right arm, pick the bottle with green cap and shake properly.",
+    "Take the brown bottle with white printed label using the right arm and give it a shake.",
+    "Shake the plastic bottle with ribbed pattern thoroughly after grabbing it.",
+    "Pick the plastic bottle with ribbed pattern up using the right arm and shake it.",
+    "Grab the brown bottle with white printed label and give it a shake.",
+    "Grab the brown bottle with white printed label with the right arm and shake.",
+    "Shake the bottle with tapered cylindrical shape after grabbing it.",
+    "Grab the cylindrical bottle with white label firmly, shake it, and put it down.",
+    "Shake the smooth plastic bottle for beverages after grabbing it.",
+    "Use the right arm to lift and shake the bottle with tapered cylindrical shape.",
+    "Hold the bottle with green cap with the right arm and shake lightly.",
+    "Pick the brown bottle with green screw-on cap up with the right arm and shake.",
+    "Use the right arm to lift and shake the smooth plastic bottle for beverages.",
+    "Grip the plastic bottle with ribbed pattern using the right arm and shake.",
+    "Hold the hand-sized bottle with grooves steady, then shake it.",
+    "Shake the brown bottle with white printed label firmly after grabbing.",
+    "Hold the small brown plastic bottle and shake it properly.",
+    "Use the right arm to hold the bottle with tapered cylindrical shape and shake it.",
+    "Grab the brown bottle with green screw-on cap carefully and shake.",
+    "Use the right arm to pick and shake the brown bottle with white printed label.",
+    "Pick the small brown plastic bottle and perform shaking motion.",
+    "Pick the small brown plastic bottle, shake it with the right arm.",
+    "Utilize the right arm to hold the brown bottle and shake it.",
+    "Grab the cylindrical bottle with white label using the right arm, then shake.",
+    "Lift the green-capped bottle and shake it thoroughly.",
+    "Lift up the hand-sized bottle with grooves using the right arm, then shake.",
+    "Pick up the smooth plastic bottle for beverages and shake it well.",
+    "Secure the brown bottle and perform a shake.",
+    "Lift the bottle with tapered cylindrical shape with the right arm and shake.",
+    "Shake the brown bottle using the right arm after grabbing.",
+    "Grab and shake the brown bottle with green screw-on cap using the right arm.",
+    "Lift the brown bottle with green screw-on cap with the right arm and shake it.",
+    "Shake the brown bottle with green screw-on cap after grabbing it.",
+    "Lift the small brown plastic bottle with the right arm and give it a shake.",
+    "Shake the small drink bottle with logo after holding it firmly.",
+    "Lift the cylindrical bottle with white label and shake it gently.",
+    "Use the right arm to grab the small drink bottle with logo and shake properly.",
+    "Catch the brown bottle with white printed label and shake it instantly.",
+    "Shake the smooth plastic bottle for beverages after lifting it.",
+    "Grasp the bottle with green cap with the right arm and shake it.",
+    "Use the right arm to grab the plastic bottle with ribbed pattern and shake it.",
+    "Grab the bottle with green cap and shake it steadily.",
+    "Secure the bottle with tapered cylindrical shape, shake it, and place it down.",
+    "Using the right arm, shake the brown bottle with green screw-on cap and then place it back.",
+    "Grab the bottle with green cap and move it to shake.",
+    "Use the right arm to lift and shake the hand-sized bottle with grooves.",
+    "Hold and shake the the green-capped bottle carefully.",
+    "Shake the the small drink bottle with logo properly after lifting.",
+    "Hold the green-capped bottle, shake it briefly.",
+    "Pick up the brown bottle with green screw-on cap and shake it.",
+    "With the right arm, pick the green-capped bottle and shake properly.",
+    "Take the cylindrical bottle with white label using the right arm and give it a shake.",
+    "Shake the small brown plastic bottle thoroughly after grabbing it.",
+    "Pick the bottle with tapered cylindrical shape up using the right arm and shake it.",
+    "Grab the small brown plastic bottle and give it a shake.",
+    "Grab the green-capped bottle with the right arm and shake.",
+    "Shake the bottle with tapered cylindrical shape after grabbing it.",
+    "Grab the smooth plastic bottle for beverages firmly, shake it, and put it down.",
+    "Shake the hand-sized bottle with grooves after grabbing it.",
+    "Use the right arm to lift and shake the brown bottle.",
+    "Hold the smooth plastic bottle for beverages with the right arm and shake lightly.",
+    "Pick the small brown plastic bottle up with the right arm and shake.",
+    "Use the right arm to lift and shake the green-capped bottle.",
+    "Grip the bottle with green cap using the right arm and shake.",
+    "Hold the plastic bottle with ribbed pattern steady, then shake it."
+  ],
+  "unseen": [
+    "Grab the bottle with coffee-colored body and shake it.",
+    "Use the right arm to grab the bottle with Starbucks logo on label and shake.",
+    "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.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Grab the bottle with Starbucks logo on label and give it a 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 plastic Starbucks bottle and shake it.",
+    "Shake the bottle with Starbucks logo on label after picking it with the right arm.",
+    "Grab the plastic Starbucks bottle and shake it.",
+    "Use the right arm to grab the plastic Starbucks bottle and shake.",
+    "Pick up the plastic Starbucks bottle with the right arm and shake.",
+    "Pick and shake the the plastic Starbucks bottle with the right arm.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Grab the bottle with coffee-colored body and give it a shake.",
+    "Use the right arm to pick the plastic Starbucks bottle.",
+    "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.",
+    "Shake the bottle with Starbucks logo on label after picking it with the right arm.",
+    "Grab the bottle with coffee-colored body and shake it.",
+    "Use the right arm to grab the bottle with Starbucks logo on label and shake.",
+    "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.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Grab the plastic Starbucks bottle and give it a shake.",
+    "Use the right arm to pick the plastic Starbucks bottle.",
+    "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.",
+    "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 and shake it.",
+    "Use the right arm to grab the bottle with coffee-colored body and shake.",
+    "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.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Grab the bottle with coffee-colored body and give it a 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.",
+    "Shake the bottle with Starbucks logo on label after picking it with the right arm.",
+    "Grab the plastic Starbucks bottle and shake it.",
+    "Use the right arm to grab the bottle with Starbucks logo on label and shake.",
+    "Pick up the bottle with coffee-colored body with the right arm and shake.",
+    "Pick and shake the the bottle with Starbucks logo on label with the right arm.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Grab the bottle with coffee-colored body and give it a shake.",
+    "Use the right arm to pick the plastic Starbucks bottle.",
+    "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Shake the plastic Starbucks bottle after picking it with the right arm.",
+    "Grab the plastic Starbucks bottle and shake it.",
+    "Use the right arm to grab the bottle with coffee-colored body and shake.",
+    "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.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Grab the bottle with coffee-colored body and give it a 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.",
+    "Shake the bottle with Starbucks logo on label after picking it with the right arm.",
+    "Grab the bottle with Starbucks logo on label and shake it.",
+    "Use the right arm to grab the plastic Starbucks bottle and shake.",
+    "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.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Grab the bottle with Starbucks logo on label and give it a 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.",
+    "Shake the plastic Starbucks bottle after picking it with the right arm.",
+    "Grab the bottle with Starbucks logo on label and shake it.",
+    "Use the right arm to grab the plastic Starbucks bottle and shake.",
+    "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.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Grab the bottle with coffee-colored body and give it a 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 plastic Starbucks bottle and shake it.",
+    "Shake the bottle with Starbucks logo on label after picking it with the right arm.",
+    "Grab the plastic Starbucks bottle and shake it.",
+    "Use the right arm to grab the plastic Starbucks bottle and shake.",
+    "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.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Grab the plastic Starbucks bottle and give it a shake.",
+    "Use the right arm to pick the plastic Starbucks bottle.",
+    "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Shake the bottle with Starbucks logo on label after picking it with the right arm.",
+    "Grab the bottle with coffee-colored body and shake it.",
+    "Use the right arm to grab the bottle with coffee-colored body and shake.",
+    "Pick up the plastic Starbucks bottle with the right arm and shake.",
+    "Pick and shake the the plastic Starbucks bottle with the right arm.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Grab the bottle with coffee-colored body and give it a shake.",
+    "Use the right arm to pick the plastic Starbucks bottle.",
+    "Grab the plastic Starbucks bottle, shake it properly, then set it down.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Shake the plastic Starbucks bottle after picking it with the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006337.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006337.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf8fce693477f8d4e2a7ec3602cea7902e59eb2c
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006337.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the yellow bottle for liquid storage up using the left arm and shake it.",
+    "Shake the medium-sized bottle after holding it firmly.",
+    "Pick the plastic bottle and perform shaking motion.",
+    "Use the left arm to grab the plastic bottle and shake it.",
+    "Secure the medium-sized bottle and perform a shake.",
+    "Hold and shake the the yellow bottle with blue label carefully.",
+    "Pick up the yellow bottle and shake it.",
+    "Take the medium-sized bottle using the left arm and give it a shake.",
+    "Grasp the bottle with screw cap with the left arm and shake it.",
+    "Lift the plastic bottle with curved sides and shake it gently.",
+    "Lift the bottle for liquid with the left arm and shake it.",
+    "Shake the bottle for liquid after lifting it.",
+    "Grab the yellow bottle with dark label and give it a shake.",
+    "Grab the yellow bottle for liquid storage carefully and shake.",
+    "Lift the handheld curvy bottle with the left arm and shake.",
+    "Lift the yellow bottle for liquid storage and shake it thoroughly.",
+    "Shake the yellow bottle with dark label after grabbing it.",
+    "Grab the bottle with screw cap with the left arm and shake.",
+    "Lift the yellow bottle with the left arm and give it a shake.",
+    "Utilize the left arm to hold the medium-sized bottle and shake it.",
+    "Secure the smooth plastic bottle, shake it, and place it down.",
+    "Use the left arm to lift and shake the yellow bottle.",
+    "Grab the yellow bottle for liquid storage firmly, shake it, and put it down.",
+    "Grab and shake the yellow bottle with blue label using the left arm.",
+    "Grab the bottle for liquid and shake it steadily.",
+    "Shake the plastic bottle with curved sides thoroughly after grabbing it.",
+    "Use the left arm to pick and shake the yellow bottle with dark label.",
+    "Using the left arm, shake the medium-sized bottle and then place it back.",
+    "Shake the yellow bottle with blue label after grabbing it.",
+    "Use the left arm to hold the bottle with screw cap and shake it.",
+    "Hold the plastic bottle, shake it briefly.",
+    "Hold the yellow bottle and shake it properly.",
+    "Grab the plastic bottle with curved sides using the left arm, then shake.",
+    "Use the left arm to grab the smooth plastic bottle and shake properly.",
+    "Grab the yellow bottle with dark label and move it to shake.",
+    "Use the left arm to lift and shake the plastic bottle with curved sides.",
+    "Lift up the smooth plastic bottle using the left arm, then shake.",
+    "With the left arm, pick the smooth plastic bottle and shake properly.",
+    "Hold the plastic bottle with curved sides steady, then shake it.",
+    "Shake the medium-sized bottle after grabbing it.",
+    "Catch the yellow bottle for liquid storage and shake it instantly.",
+    "Grip the yellow bottle using the left arm and shake.",
+    "Pick up the medium plastic bottle with cap and shake it well.",
+    "Shake the the plastic bottle properly after lifting.",
+    "Pick the yellow bottle up with the left arm and shake.",
+    "Pick the yellow bottle, shake it with the left arm.",
+    "Use the left arm to lift and shake the handheld curvy bottle.",
+    "Hold the smooth plastic bottle with the left arm and shake lightly.",
+    "Shake the medium plastic bottle with cap using the left arm after grabbing.",
+    "Shake the yellow bottle for liquid storage firmly after grabbing.",
+    "Pick the handheld curvy bottle up using the left arm and shake it.",
+    "Shake the yellow bottle for liquid storage after holding it firmly.",
+    "Pick the yellow bottle with blue label and perform shaking motion.",
+    "Use the left arm to grab the smooth plastic bottle and shake it.",
+    "Secure the medium plastic bottle with cap and perform a shake.",
+    "Hold and shake the the medium-sized bottle carefully.",
+    "Pick up the smooth plastic bottle and shake it.",
+    "Take the handheld curvy bottle using the left arm and give it a shake.",
+    "Grasp the yellow bottle for liquid storage with the left arm and shake it.",
+    "Lift the yellow bottle and shake it gently.",
+    "Lift the yellow bottle for liquid storage with the left arm and shake it.",
+    "Shake the medium-sized bottle after lifting it.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Grab the smooth plastic bottle carefully and shake.",
+    "Lift the yellow bottle with the left arm and shake.",
+    "Lift the plastic bottle and shake it thoroughly.",
+    "Shake the handheld curvy bottle after grabbing it.",
+    "Grab the handheld curvy bottle with the left arm and shake.",
+    "Lift the bottle with screw cap with the left arm and give it a shake.",
+    "Utilize the left arm to hold the handheld curvy bottle and shake it.",
+    "Secure the yellow bottle for liquid storage, shake it, and place it down.",
+    "Use the left arm to lift and shake the bottle with screw cap.",
+    "Grab the yellow bottle for liquid storage firmly, shake it, and put it down.",
+    "Grab and shake the yellow bottle with dark label using the left arm.",
+    "Grab the bottle for liquid and shake it steadily.",
+    "Shake the medium-sized bottle thoroughly after grabbing it.",
+    "Use the left arm to pick and shake the yellow bottle with dark label.",
+    "Using the left arm, shake the smooth plastic bottle and then place it back.",
+    "Shake the medium plastic bottle with cap after grabbing it.",
+    "Use the left arm to hold the smooth plastic bottle and shake it.",
+    "Hold the medium-sized bottle, shake it briefly.",
+    "Hold the yellow bottle and shake it properly.",
+    "Grab the plastic bottle with curved sides using the left arm, then shake.",
+    "Use the left arm to grab the bottle for liquid and shake properly.",
+    "Grab the bottle with screw cap and move it to shake.",
+    "Use the left arm to lift and shake the yellow bottle with dark label.",
+    "Lift up the yellow bottle with dark label using the left arm, then shake.",
+    "With the left arm, pick the medium-sized bottle and shake properly.",
+    "Hold the medium plastic bottle with cap steady, then shake it.",
+    "Shake the smooth plastic bottle after grabbing it.",
+    "Catch the medium plastic bottle with cap and shake it instantly.",
+    "Grip the yellow bottle using the left arm and shake.",
+    "Pick up the bottle with screw cap and shake it well.",
+    "Shake the the bottle for liquid properly after lifting.",
+    "Pick the bottle for liquid up with the left arm and shake.",
+    "Pick the plastic bottle with curved sides, shake it with the left arm.",
+    "Use the left arm to lift and shake the smooth plastic bottle.",
+    "Hold the smooth plastic bottle with the left arm and shake lightly.",
+    "Shake the yellow bottle using the left arm after grabbing.",
+    "Shake the yellow bottle firmly after grabbing."
+  ],
+  "unseen": [
+    "Grab the curvy yellow plastic bottle, shake it properly, then set it down.",
+    "Pick and shake the the curvy yellow plastic bottle with the left arm.",
+    "Pick up the curvy yellow plastic bottle and shake it.",
+    "Grab the curvy yellow plastic bottle and give it a shake.",
+    "Grab the curvy yellow plastic bottle and shake it.",
+    "Pick up the curvy yellow plastic bottle and shake it.",
+    "Shake the smooth bottle with blue text after picking it with the left arm.",
+    "Use the left arm to pick the yellow bottle with white cap.",
+    "Pick up the yellow bottle with white cap with the left arm and shake.",
+    "Use the left arm to grab the yellow bottle with white cap and shake.",
+    "Grab the smooth bottle with blue text, shake it properly, then set it down.",
+    "Pick and shake the the yellow bottle with white cap with the left arm.",
+    "Pick up the curvy yellow plastic bottle and shake it.",
+    "Grab the yellow bottle with white cap and give it a shake.",
+    "Grab the smooth bottle with blue text and shake it.",
+    "Pick up the smooth bottle with blue text and shake it.",
+    "Shake the smooth bottle with blue text after picking it with the left arm.",
+    "Use the left arm to pick the smooth bottle with blue text.",
+    "Pick up the curvy yellow plastic bottle with the left arm and shake.",
+    "Use the left arm to grab the curvy yellow plastic bottle and shake.",
+    "Grab the smooth bottle with blue text, shake it properly, then set it down.",
+    "Pick and shake the the smooth bottle with blue text with the left arm.",
+    "Pick up the curvy yellow plastic bottle and shake it.",
+    "Grab the yellow bottle with white cap and give it a shake.",
+    "Grab the smooth bottle with blue text and shake it.",
+    "Pick up the curvy yellow plastic bottle and shake it.",
+    "Shake the smooth bottle with blue text after picking it with the left arm.",
+    "Use the left arm to pick the yellow bottle with white cap.",
+    "Pick up the curvy yellow plastic bottle with the left arm and shake.",
+    "Use the left arm to grab the smooth bottle with blue text and shake.",
+    "Grab the yellow bottle with white cap, shake it properly, then set it down.",
+    "Pick and shake the the curvy yellow plastic bottle with the left arm.",
+    "Pick up the yellow bottle with white cap and shake it.",
+    "Grab the smooth bottle with blue text and give it a shake.",
+    "Grab the curvy yellow plastic bottle and shake it.",
+    "Pick up the yellow bottle with white cap and shake it.",
+    "Shake the smooth bottle with blue text after picking it with the left arm.",
+    "Use the left arm to pick the smooth bottle with blue text.",
+    "Pick up the yellow bottle with white cap with the left arm and shake.",
+    "Use the left arm to grab the yellow bottle with white cap and shake.",
+    "Grab the yellow bottle with white cap, shake it properly, then set it down.",
+    "Pick and shake the the yellow bottle with white cap with the left arm.",
+    "Pick up the smooth bottle with blue text and shake it.",
+    "Grab the smooth bottle with blue text and give it a shake.",
+    "Grab the yellow bottle with white cap and shake it.",
+    "Pick up the curvy yellow plastic bottle and shake it.",
+    "Shake the smooth bottle with blue text after picking it with the left arm.",
+    "Use the left arm to pick the curvy yellow plastic bottle.",
+    "Pick up the curvy yellow plastic bottle with the left arm and shake.",
+    "Use the left arm to grab the curvy yellow plastic bottle and shake.",
+    "Grab the smooth bottle with blue text, shake it properly, then set it down.",
+    "Pick and shake the the smooth bottle with blue text with the left arm.",
+    "Pick up the yellow bottle with white cap and shake it.",
+    "Grab the smooth bottle with blue text and give it a shake.",
+    "Grab the curvy yellow plastic bottle and shake it.",
+    "Pick up the curvy yellow plastic bottle and shake it.",
+    "Shake the curvy yellow plastic bottle after picking it with the left arm.",
+    "Use the left arm to pick the curvy yellow plastic bottle.",
+    "Pick up the smooth bottle with blue text with the left arm and shake.",
+    "Use the left arm to grab the smooth bottle with blue text and shake.",
+    "Grab the yellow bottle with white cap, shake it properly, then set it down.",
+    "Pick and shake the the yellow bottle with white cap with the left arm.",
+    "Pick up the yellow bottle with white cap and shake it.",
+    "Grab the yellow bottle with white cap and give it a shake.",
+    "Grab the smooth bottle with blue text and shake it.",
+    "Pick up the curvy yellow plastic bottle and shake it.",
+    "Shake the smooth bottle with blue text after picking it with the left arm.",
+    "Use the left arm to pick the curvy yellow plastic bottle.",
+    "Pick up the yellow bottle with white cap with the left arm and shake.",
+    "Use the left arm to grab the smooth bottle with blue text and shake.",
+    "Grab the smooth bottle with blue text, shake it properly, then set it down.",
+    "Pick and shake the the yellow bottle with white cap with the left arm.",
+    "Pick up the curvy yellow plastic bottle and shake it.",
+    "Grab the smooth bottle with blue text and give it a shake.",
+    "Grab the curvy yellow plastic bottle and shake it.",
+    "Pick up the curvy yellow plastic bottle and shake it.",
+    "Shake the curvy yellow plastic bottle after picking it with the left arm.",
+    "Use the left arm to pick the yellow bottle with white cap.",
+    "Pick up the smooth bottle with blue text with the left arm and shake.",
+    "Use the left arm to grab the yellow bottle with white cap and shake.",
+    "Grab the yellow bottle with white cap, shake it properly, then set it down.",
+    "Pick and shake the the smooth bottle with blue text with the left arm.",
+    "Pick up the smooth bottle with blue text and shake it.",
+    "Grab the smooth bottle with blue text and give it a shake.",
+    "Grab the curvy yellow plastic bottle and shake it.",
+    "Pick up the yellow bottle with white cap and shake it.",
+    "Shake the smooth bottle with blue text after picking it with the left arm.",
+    "Use the left arm to pick the curvy yellow plastic bottle.",
+    "Pick up the yellow bottle with white cap with the left arm and shake.",
+    "Use the left arm to grab the curvy yellow plastic bottle and shake.",
+    "Grab the yellow bottle with white cap, shake it properly, then set it down.",
+    "Pick and shake the the curvy yellow plastic bottle with the left arm.",
+    "Pick up the yellow bottle with white cap and shake it.",
+    "Grab the yellow bottle with white cap and give it a shake.",
+    "Grab the yellow bottle with white cap and shake it.",
+    "Pick up the smooth bottle with blue text and shake it.",
+    "Shake the curvy yellow plastic bottle after picking it with the left arm.",
+    "Use the left arm to pick the smooth bottle with blue text.",
+    "Pick up the yellow bottle with white cap with the left arm and shake.",
+    "Use the left arm to grab the yellow bottle with white cap and shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007065.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007065.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbd41f214850b7f3f4e8d5117709bb1da7c77896
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007065.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the smooth cylindrical bottle with the right arm and give it a shake.",
+    "Hold the gray bottle with slight shine and shake it properly.",
+    "Secure the plastic bottle with ghost print and perform a shake.",
+    "Lift the gray bottle with slight shine with the right arm and shake it.",
+    "Grasp the smooth surface bottle with gray shade with the right arm and shake it.",
+    "Utilize the right arm to hold the gray bottle with slight shine and shake it.",
+    "Hold the smooth surface bottle with gray shade with the right arm and shake lightly.",
+    "Use the right arm to hold the gray bottle with slight shine and shake it.",
+    "Pick the light gray colored container bottle and perform shaking motion.",
+    "Shake the smooth cylindrical bottle firmly after grabbing.",
+    "Use the right arm to lift and shake the rounded body bottle made of plastic.",
+    "Pick the medium-sized plastic bottle up with the right arm and shake.",
+    "Shake the smooth cylindrical bottle thoroughly after grabbing it.",
+    "Lift the medium cylinder-shaped bottle and shake it gently.",
+    "Grab the smooth surface bottle with gray shade with the right arm and shake.",
+    "Use the right arm to grab the smooth cylindrical bottle and shake properly.",
+    "Hold the smooth surface bottle with gray shade, shake it briefly.",
+    "Shake the hand-sized bottle with screw cap after holding it firmly.",
+    "Shake the smooth surface bottle with gray shade after grabbing it.",
+    "Grab the smooth surface bottle with gray shade and give it a shake.",
+    "Pick up the hand-sized bottle with screw cap and shake it.",
+    "Grab and shake the gray bottle with slight shine using the right arm.",
+    "Shake the medium-sized plastic bottle after lifting it.",
+    "Grab the smooth cylindrical bottle and shake it steadily.",
+    "Lift up the smooth cylindrical bottle using the right arm, then shake.",
+    "Use the right arm to grab the medium-sized plastic bottle and shake it.",
+    "Use the right arm to lift and shake the medium-sized plastic bottle.",
+    "Pick the bottle with cute ghost drawing, shake it with the right arm.",
+    "Shake the milk-bottle shape design using the right arm after grabbing.",
+    "Hold the smooth cylindrical bottle steady, then shake it.",
+    "Use the right arm to pick and shake the bottle with cute ghost drawing.",
+    "Secure the gray bottle with slight shine, shake it, and place it down.",
+    "Grab the gray bottle with slight shine using the right arm, then shake.",
+    "Pick the medium cylinder-shaped bottle up using the right arm and shake it.",
+    "Grip the bottle with cute ghost drawing using the right arm and shake.",
+    "Take the medium cylinder-shaped bottle using the right arm and give it a shake.",
+    "Shake the light gray colored container bottle after grabbing it.",
+    "Grab the gray bottle with slight shine firmly, shake it, and put it down.",
+    "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 gray bottle with slight shine.",
+    "Lift the gray bottle with slight shine with the right arm and shake.",
+    "Lift the smooth cylindrical bottle and shake it thoroughly.",
+    "Catch the hand-sized bottle with screw cap and shake it instantly.",
+    "Grab the bottle with cute ghost drawing and move it to shake.",
+    "Grab the medium cylinder-shaped bottle carefully and shake.",
+    "Shake the light gray colored container bottle after grabbing it.",
+    "Hold and shake the the smooth cylindrical bottle carefully.",
+    "Shake the the hand-sized bottle with screw cap properly after lifting.",
+    "Pick up the plastic bottle with ghost print and shake it well.",
+    "With the right arm, pick the bottle shaped like small cylinder and shake properly.",
+    "Lift the rounded body bottle made of plastic with the right arm and give it a shake.",
+    "Hold the rounded body bottle made of plastic and shake it properly.",
+    "Secure the plastic bottle with ghost print and perform a shake.",
+    "Lift the bottle with cute ghost drawing with the right arm and shake it.",
+    "Grasp the bottle with cute ghost drawing with the right arm and shake it.",
+    "Utilize the right arm to hold the bottle with cute ghost drawing and shake it.",
+    "Hold the milk-bottle shape design with the right arm and shake lightly.",
+    "Use the right arm to hold the bottle with cute ghost drawing and shake it.",
+    "Pick the hand-sized bottle with screw cap and perform shaking motion.",
+    "Shake the milk-bottle shape design firmly after grabbing.",
+    "Use the right arm to lift and shake the milk-bottle shape design.",
+    "Pick the medium cylinder-shaped bottle up with the right arm and shake.",
+    "Shake the bottle with cute ghost drawing thoroughly after grabbing it.",
+    "Lift the medium cylinder-shaped bottle and shake it gently.",
+    "Grab the milk-bottle shape design with the right arm and shake.",
+    "Use the right arm to grab the medium-sized plastic bottle and shake properly.",
+    "Hold the bottle shaped like small cylinder, shake it briefly.",
+    "Shake the smooth cylindrical bottle after holding it firmly.",
+    "Shake the milk-bottle shape design after grabbing it.",
+    "Grab the milk-bottle shape design and give it a shake.",
+    "Pick up the plastic bottle with ghost print and shake it.",
+    "Grab and shake the medium-sized plastic bottle using the right arm.",
+    "Shake the milk-bottle shape design after lifting it.",
+    "Grab the plastic bottle with ghost print and shake it steadily.",
+    "Lift up the hand-sized bottle with screw cap using the right arm, then shake.",
+    "Use the right arm to grab the medium cylinder-shaped bottle and shake it.",
+    "Use the right arm to lift and shake the medium-sized plastic bottle.",
+    "Pick the smooth surface bottle with gray shade, shake it with the right arm.",
+    "Shake the gray bottle with slight shine using the right arm after grabbing.",
+    "Hold the bottle shaped like small cylinder steady, then shake it.",
+    "Use the right arm to pick and shake the bottle with cute ghost drawing.",
+    "Secure the milk-bottle shape design, shake it, and place it down.",
+    "Grab the hand-sized bottle with screw cap using the right arm, then shake.",
+    "Pick the plastic bottle with ghost print up using the right arm and shake it.",
+    "Grip the smooth cylindrical bottle using the right arm and shake.",
+    "Take the gray bottle with slight shine using the right arm and give it a shake.",
+    "Shake the bottle with cute ghost drawing after grabbing it.",
+    "Grab the gray bottle with slight shine firmly, shake it, and put it down.",
+    "Using the right arm, shake the bottle with cute ghost drawing and then place it back.",
+    "Use the right arm to lift and shake the bottle with cute ghost drawing.",
+    "Lift the gray bottle with slight shine with the right arm and shake.",
+    "Lift the smooth cylindrical bottle and shake it thoroughly.",
+    "Catch the smooth surface bottle with gray shade and shake it instantly.",
+    "Grab the bottle shaped like small cylinder and move it to shake.",
+    "Grab the gray bottle with slight shine carefully and shake.",
+    "Shake the light gray colored container bottle after grabbing it.",
+    "Hold and shake the the smooth surface bottle with gray shade carefully.",
+    "Shake the the light gray colored container bottle properly after lifting.",
+    "Pick up the smooth surface bottle with gray shade and shake it well.",
+    "With the right arm, pick the plastic bottle with ghost print and shake properly."
+  ],
+  "unseen": [
+    "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.",
+    "Use the right arm to grab the bottle with rounded cap top and shake.",
+    "Pick up the bottle with rounded cap top with the right arm and shake.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Use the right arm to pick the bottle with rounded cap top.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Pick up 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.",
+    "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.",
+    "Use the right arm to grab the light gray bottle and shake.",
+    "Pick up the light gray bottle with the right arm and shake.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Use the right arm to pick the bottle with rounded cap top.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Pick up the light gray bottle and shake it.",
+    "Shake the bottle with rounded cap top after picking it with the right arm.",
+    "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.",
+    "Use the right arm to grab the light gray bottle and shake.",
+    "Pick up the gray bottle for holding drinks with the right arm and shake.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Use the right arm to pick the bottle with rounded cap top.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Pick up 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.",
+    "Pick and shake the the light gray bottle with the right arm.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Use the right arm to grab the bottle with rounded cap top and shake.",
+    "Pick up the bottle with rounded cap top with the right arm and shake.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Use the right arm to pick the light gray bottle.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Pick up the bottle with rounded cap top 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.",
+    "Pick and shake the the light gray bottle with the right arm.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Pick up the light gray bottle with the right arm and shake.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Use the right arm to pick the gray bottle for holding drinks.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Pick up the gray bottle for holding drinks 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.",
+    "Pick and shake the the bottle with rounded cap top with the right arm.",
+    "Grab the light gray bottle and give it a shake.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Pick up the light gray bottle with the right arm and shake.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Use the right arm to pick the light gray bottle.",
+    "Grab the light gray bottle and shake it.",
+    "Pick up the bottle with rounded cap top 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.",
+    "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.",
+    "Use the right arm to grab the light gray bottle and shake.",
+    "Pick up the gray bottle for holding drinks with the right arm and shake.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Use the right arm to pick the gray bottle for holding drinks.",
+    "Grab the light gray bottle and shake it.",
+    "Pick up the light gray bottle and shake it.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Shake the light gray bottle after picking it with the right arm.",
+    "Pick and shake the the light gray bottle with the right arm.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Use the right arm to grab the light gray bottle and shake.",
+    "Pick up the gray bottle for holding drinks with the right arm and shake.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Use the right arm to pick the light gray bottle.",
+    "Grab the light gray bottle and shake it.",
+    "Pick up 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.",
+    "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.",
+    "Use the right arm to grab the bottle with rounded cap top and shake.",
+    "Pick up the light gray bottle with the right arm and shake.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Use the right arm to pick the gray bottle for holding drinks.",
+    "Grab the light gray bottle and shake it.",
+    "Pick up 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.",
+    "Pick and shake the the gray bottle for holding drinks with the right arm.",
+    "Grab the light gray bottle and give it a shake.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Pick up the gray bottle for holding drinks with the right arm and shake.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Use the right arm to pick the bottle with rounded cap top.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Pick up the light gray bottle and shake it.",
+    "Shake the bottle with rounded cap top after picking it with the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007104.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007104.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7181828f0f72be814e3171fae29699f68a75e07
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007104.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the orange bottle with the right arm and shake.",
+    "Lift up the grooved orange drink bottle using the right arm, then shake.",
+    "Shake the bottle for holding drinks after holding it firmly.",
+    "Hold the cylindrical orange plastic bottle steady, then shake it.",
+    "Grab and shake the ridged orange bottle with grooves using the right arm.",
+    "Grab the medium bottle with colorful label and move it to shake.",
+    "Grab the medium bottle with colorful label and shake it steadily.",
+    "Grasp the round-bottom bottle with white cap with the right arm and shake it.",
+    "Utilize the right arm to hold the cylindrical orange plastic bottle and shake it.",
+    "Shake the round-bottom bottle with white cap after grabbing it.",
+    "Shake the light and medium-sized bottle using the right arm after grabbing.",
+    "Hold the plastic bottle, shake it briefly.",
+    "Pick the grooved orange drink bottle and perform shaking motion.",
+    "Secure the medium bottle with colorful label and perform a shake.",
+    "Lift the plastic bottle and shake it gently.",
+    "Grab the round-bottom bottle with white cap using the right arm, then shake.",
+    "Shake the round-bottom bottle with white cap after lifting it.",
+    "Lift the orange drink bottle with label and shake it thoroughly.",
+    "Use the right arm to hold the medium bottle with colorful label and shake it.",
+    "Pick up the light and medium-sized bottle and shake it.",
+    "Shake the round-bottom bottle with white cap after grabbing it.",
+    "Shake the bottle for holding drinks firmly after grabbing.",
+    "Pick the orange drink bottle with label up using the right arm and shake it.",
+    "Hold the curved orange soda bottle and shake it properly.",
+    "Grab the grooved orange drink bottle firmly, shake it, and put it down.",
+    "Lift the medium bottle with colorful label with the right arm and shake.",
+    "Use the right arm to lift and shake the round-bottom bottle with white cap.",
+    "Use the right arm to pick and shake the orange drink bottle with label.",
+    "Lift the round-bottom bottle with white cap with the right arm and give it a shake.",
+    "Using the right arm, shake the bottle for holding drinks and then place it back.",
+    "Secure the grooved orange drink bottle, shake it, and place it down.",
+    "Hold and shake the the medium bottle with colorful label carefully.",
+    "With the right arm, pick the ridged orange bottle with grooves and shake properly.",
+    "Pick up the curved orange soda bottle and shake it well.",
+    "Pick the light and medium-sized bottle up with the right arm and shake.",
+    "Catch the cylindrical orange plastic bottle and shake it instantly.",
+    "Pick the cylindrical orange plastic bottle, shake it with the right arm.",
+    "Hold the bottle for holding drinks with the right arm and shake lightly.",
+    "Use the right arm to lift and shake the light and medium-sized bottle.",
+    "Shake the ridged orange bottle with grooves thoroughly after grabbing it.",
+    "Grab the orange bottle and give it a shake.",
+    "Lift the orange bottle with the right arm and shake it.",
+    "Use the right arm to lift and shake the round-bottom bottle with white cap.",
+    "Use the right arm to grab the orange drink bottle with label and shake it.",
+    "Take the ridged orange bottle with grooves using the right arm and give it a shake.",
+    "Grab the orange drink bottle with label carefully and shake.",
+    "Use the right arm to grab the smooth orange bottle and shake properly.",
+    "Shake the orange drink bottle with label after grabbing it.",
+    "Grip the ridged orange bottle with grooves using the right arm and shake.",
+    "Shake the the medium bottle with colorful label properly after lifting.",
+    "Grab the orange drink bottle with label with the right arm and shake.",
+    "Lift up the cylindrical orange plastic bottle using the right arm, then shake.",
+    "Shake the bottle for holding drinks after holding it firmly.",
+    "Hold the curved orange soda bottle steady, then shake it.",
+    "Grab and shake the round-bottom bottle with white cap using the right arm.",
+    "Grab the light and medium-sized bottle and move it to shake.",
+    "Grab the cylindrical orange plastic bottle and shake it steadily.",
+    "Grasp the light and medium-sized bottle with the right arm and shake it.",
+    "Utilize the right arm to hold the orange bottle and shake it.",
+    "Shake the light and medium-sized bottle after grabbing it.",
+    "Shake the orange bottle using the right arm after grabbing.",
+    "Hold the grooved orange drink bottle, shake it briefly.",
+    "Pick the light and medium-sized bottle and perform shaking motion.",
+    "Secure the cylindrical orange plastic bottle and perform a shake.",
+    "Lift the grooved orange drink bottle and shake it gently.",
+    "Grab the orange bottle using the right arm, then shake.",
+    "Shake the curved orange soda bottle after lifting it.",
+    "Lift the smooth orange bottle and shake it thoroughly.",
+    "Use the right arm to hold the orange bottle and shake it.",
+    "Pick up the round-bottom bottle with white cap and shake it.",
+    "Shake the light and medium-sized bottle after grabbing it.",
+    "Shake the smooth orange bottle firmly after grabbing.",
+    "Pick the smooth orange bottle up using the right arm and shake it.",
+    "Hold the curved orange soda bottle and shake it properly.",
+    "Grab the plastic bottle firmly, shake it, and put it down.",
+    "Lift the plastic bottle with the right arm and shake.",
+    "Use the right arm to lift and shake the medium bottle with colorful label.",
+    "Use the right arm to pick and shake the bottle for holding drinks.",
+    "Lift the bottle for holding drinks with the right arm and give it a shake.",
+    "Using the right arm, shake the smooth orange bottle and then place it back.",
+    "Secure the orange bottle, shake it, and place it down.",
+    "Hold and shake the the curved orange soda bottle carefully.",
+    "With the right arm, pick the round-bottom bottle with white cap and shake properly.",
+    "Pick up the plastic bottle and shake it well.",
+    "Pick the orange drink bottle with label up with the right arm and shake.",
+    "Catch the smooth orange bottle and shake it instantly.",
+    "Pick the orange bottle, shake it with the right arm.",
+    "Hold the grooved orange drink bottle with the right arm and shake lightly.",
+    "Use the right arm to lift and shake the bottle for holding drinks.",
+    "Shake the smooth orange bottle thoroughly 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 shake it.",
+    "Use the right arm to lift and shake the ridged orange bottle with grooves.",
+    "Use the right arm to grab the orange bottle and shake it.",
+    "Take the light and medium-sized bottle using the right arm and give it a shake.",
+    "Grab the ridged orange bottle with grooves carefully and shake.",
+    "Use the right arm to grab the cylindrical orange plastic bottle and shake properly.",
+    "Shake the smooth orange bottle after grabbing it.",
+    "Grip the light and medium-sized bottle using the right arm and shake.",
+    "Shake the the grooved orange drink bottle properly after lifting."
+  ],
+  "unseen": [
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with white cap and shake it.",
+    "Shake the bottle with white cap after picking it with the right arm.",
+    "Pick and shake the the bottle with ridged orange grip 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 grab the bottle with ridged orange grip and shake.",
+    "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.",
+    "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 and shake it.",
+    "Shake the white capped orange plastic bottle after picking it with the right arm.",
+    "Pick and shake the the bottle with white cap 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 grab the white capped orange plastic bottle and shake.",
+    "Pick up the white capped orange plastic bottle with the right arm and shake.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Use the right arm to pick the bottle with white cap.",
+    "Pick up the bottle with white cap and shake it.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Shake the bottle with ridged orange grip after picking it with the right arm.",
+    "Pick and shake the the bottle with ridged orange grip 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 grab the bottle with white cap and shake.",
+    "Pick up the white capped orange plastic bottle with the right arm and shake.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "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 and shake it.",
+    "Shake the bottle with ridged orange grip after picking it with the right arm.",
+    "Pick and shake the the bottle with ridged orange grip 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 grab the bottle with white cap and shake.",
+    "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.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Shake the bottle with white cap after picking it with the right arm.",
+    "Pick and shake the the bottle with ridged orange grip with the right arm.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Grab the bottle with white cap and shake it.",
+    "Use the right arm to grab the white capped orange plastic bottle and shake.",
+    "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.",
+    "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 bottle with white cap and shake it.",
+    "Shake the bottle with ridged orange grip after picking it with the right arm.",
+    "Pick and shake the the bottle with white cap 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 grab the bottle with white cap and shake.",
+    "Pick up the white capped orange plastic bottle with the right arm and shake.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "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 bottle with ridged orange grip and shake it.",
+    "Shake the white capped orange plastic bottle after picking it with the right arm.",
+    "Pick and shake the the white capped orange plastic bottle 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 grab the white capped orange plastic bottle and shake.",
+    "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.",
+    "Use the right arm to pick the bottle with white cap.",
+    "Pick up the bottle with white cap and shake it.",
+    "Pick up the bottle with white cap and shake it.",
+    "Shake the bottle with white cap after picking it with the right arm.",
+    "Pick and shake the the bottle with white cap with the right arm.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Use the right arm to grab the bottle with white cap and shake.",
+    "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.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Shake the white capped orange plastic bottle after picking it with the right arm.",
+    "Pick and shake the the bottle with ridged orange grip 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 grab the white capped orange plastic bottle and shake.",
+    "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.",
+    "Use the right arm to pick the bottle with white cap.",
+    "Pick up the bottle with white cap and shake it.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Shake the bottle with ridged orange grip after picking it with the right arm.",
+    "Pick and shake the the white capped orange plastic bottle 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 grab the bottle with ridged orange grip and shake.",
+    "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.",
+    "Use the right arm to pick the bottle with ridged orange grip."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007198.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007198.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ef2adf460c04377180de5ae041f37fc41bb8dcf
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007198.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the milk-bottle shape design after lifting it.",
+    "Catch the bottle with cute ghost drawing and shake it instantly.",
+    "Hold the smooth surface bottle with gray shade with the right arm and shake lightly.",
+    "Hold the light gray colored container bottle and shake it properly.",
+    "Shake the the smooth cylindrical bottle properly after lifting.",
+    "Lift up the smooth cylindrical bottle using the right arm, then shake.",
+    "Grab and shake the light gray colored container bottle using the right arm.",
+    "Shake the bottle shaped like small cylinder after grabbing it.",
+    "Use the right arm to hold the rounded body bottle made of plastic and shake it.",
+    "Use the right arm to grab the milk-bottle shape design and shake it.",
+    "Hold and shake the the bottle shaped like small cylinder carefully.",
+    "Pick the medium-sized plastic bottle and perform shaking motion.",
+    "Lift the medium-sized plastic bottle with the right arm and give it a shake.",
+    "Using the right arm, shake the plastic bottle with ghost print and then place it back.",
+    "Take the bottle with cute ghost drawing using the right arm and give it a shake.",
+    "Lift the hand-sized bottle with screw cap and shake it thoroughly.",
+    "Shake the smooth cylindrical bottle thoroughly after grabbing it.",
+    "Hold the bottle with cute ghost drawing steady, then shake it.",
+    "Shake the bottle shaped like small cylinder after grabbing it.",
+    "Grab the medium cylinder-shaped bottle carefully and shake.",
+    "Shake the smooth surface bottle with gray shade after holding it firmly.",
+    "Grab the light gray colored container bottle and move it to shake.",
+    "Lift the gray bottle with slight shine and shake it gently.",
+    "Grasp the smooth cylindrical bottle with the right arm and shake it.",
+    "Secure the smooth surface bottle with gray shade, shake it, and place it down.",
+    "Use the right arm to lift and shake the medium-sized plastic bottle.",
+    "Pick up the light gray colored container bottle and shake it.",
+    "Shake the medium-sized plastic bottle using the right arm after grabbing.",
+    "Grab the bottle with cute ghost drawing and give it a shake.",
+    "Grab the rounded body bottle made of plastic using the right arm, then shake.",
+    "Grab the bottle shaped like small cylinder firmly, shake it, and put it down.",
+    "Grab the hand-sized bottle with screw cap and shake it steadily.",
+    "Use the right arm to lift and shake the medium-sized plastic bottle.",
+    "Use the right arm to grab the gray bottle with slight shine and shake properly.",
+    "Lift the smooth surface bottle with gray shade with the right arm and shake it.",
+    "Lift the plastic bottle with ghost print with the right arm and shake.",
+    "Pick the medium cylinder-shaped bottle up with the right arm and shake.",
+    "Pick the gray bottle with slight shine up using the right arm and shake it.",
+    "Use the right arm to lift and shake the milk-bottle shape design.",
+    "Secure the smooth surface bottle with gray shade and perform a shake.",
+    "Use the right arm to pick and shake the smooth surface bottle with gray shade.",
+    "Hold the bottle with cute ghost drawing, shake it briefly.",
+    "Shake the hand-sized bottle with screw cap after grabbing it.",
+    "Pick up the bottle with cute ghost drawing and shake it well.",
+    "Shake the rounded body bottle made of plastic firmly after grabbing.",
+    "With the right arm, pick the smooth cylindrical bottle and shake properly.",
+    "Grab the medium-sized plastic bottle with the right arm and shake.",
+    "Grip the smooth cylindrical bottle using the right arm and shake.",
+    "Utilize the right arm to hold the milk-bottle shape design and shake it.",
+    "Pick the bottle with cute ghost drawing, shake it with the right arm.",
+    "Shake the hand-sized bottle with screw cap after lifting it.",
+    "Catch the bottle with cute ghost drawing and shake it instantly.",
+    "Hold the rounded body bottle made of plastic with the right arm and shake lightly.",
+    "Hold the medium-sized plastic bottle and shake it properly.",
+    "Shake the the medium-sized plastic bottle properly after lifting.",
+    "Lift up the plastic bottle with ghost print using the right arm, then shake.",
+    "Grab and shake the gray bottle with slight shine using the right arm.",
+    "Shake the smooth cylindrical bottle after grabbing it.",
+    "Use the right arm to hold the bottle shaped like small cylinder and shake it.",
+    "Use the right arm to grab the milk-bottle shape design and shake it.",
+    "Hold and shake the the medium-sized plastic bottle carefully.",
+    "Pick the smooth surface bottle with gray shade and perform shaking motion.",
+    "Lift the milk-bottle shape design with the right arm and give it a shake.",
+    "Using the right arm, shake the smooth cylindrical bottle and then place it back.",
+    "Take the hand-sized bottle with screw cap using the right arm and give it a shake.",
+    "Lift the smooth cylindrical bottle and shake it thoroughly.",
+    "Shake the hand-sized bottle with screw cap thoroughly after grabbing it.",
+    "Hold the medium cylinder-shaped bottle steady, then shake it.",
+    "Shake the smooth cylindrical bottle after grabbing it.",
+    "Grab the medium-sized plastic bottle carefully and shake.",
+    "Shake the plastic bottle with ghost print after holding it firmly.",
+    "Grab the hand-sized bottle with screw cap and move it to shake.",
+    "Lift the bottle shaped like small cylinder and shake it gently.",
+    "Grasp the bottle shaped like small cylinder with the right arm and shake it.",
+    "Secure the bottle shaped like small cylinder, shake it, and place it down.",
+    "Use the right arm to lift and shake the gray bottle with slight shine.",
+    "Pick up the smooth cylindrical bottle and shake it.",
+    "Shake the light gray colored container bottle using the right arm after grabbing.",
+    "Grab the hand-sized bottle with screw cap and give it a shake.",
+    "Grab the gray bottle with slight shine using the right arm, then shake.",
+    "Grab the smooth cylindrical bottle firmly, shake it, and put it down.",
+    "Grab the bottle shaped like small cylinder and shake it steadily.",
+    "Use the right arm to lift and shake the light gray colored container bottle.",
+    "Use the right arm to grab the hand-sized bottle with screw cap and shake properly.",
+    "Lift the bottle shaped like small cylinder with the right arm and shake it.",
+    "Lift the medium-sized plastic bottle with the right arm and shake.",
+    "Pick the plastic bottle with ghost print up with the right arm and shake.",
+    "Pick the plastic bottle with ghost print up using the right arm and shake it.",
+    "Use the right arm to lift and shake the bottle shaped like small cylinder.",
+    "Secure the plastic bottle with ghost print and perform a shake.",
+    "Use the right arm to pick and shake the milk-bottle shape design.",
+    "Hold the hand-sized bottle with screw cap, shake it briefly.",
+    "Shake the light gray colored container bottle after grabbing it.",
+    "Pick up the hand-sized bottle with screw cap and shake it well.",
+    "Shake the milk-bottle shape design firmly after grabbing.",
+    "With the right arm, pick the plastic bottle with ghost print and shake properly.",
+    "Grab the bottle shaped like small cylinder with the right arm and shake.",
+    "Grip the light gray colored container bottle using the right arm and shake.",
+    "Utilize the right arm to hold the plastic bottle with ghost print and shake it.",
+    "Pick the gray bottle with slight shine, shake it with the right arm."
+  ],
+  "unseen": [
+    "Pick and shake the the gray bottle for holding drinks 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 with the right arm and shake.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "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 gray bottle for holding drinks and give it a shake.",
+    "Use the right arm to pick the bottle with rounded cap top.",
+    "Shake the light gray bottle after picking it with the right arm.",
+    "Pick and shake the the gray bottle for holding drinks 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 with the right arm and shake.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the light gray bottle and shake it.",
+    "Pick up the light gray bottle and shake it.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Grab the light gray bottle and give it a shake.",
+    "Use the right arm to pick the light gray bottle.",
+    "Shake the bottle with rounded cap top after picking it with the right arm.",
+    "Pick and shake the the bottle with rounded cap top with the right arm.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Pick up the light gray bottle with the right arm and shake.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Use the right arm to pick the bottle with rounded cap top.",
+    "Shake the light gray bottle after picking it with the right arm.",
+    "Pick and shake the the gray bottle for holding drinks with the right arm.",
+    "Use the right arm to grab the light gray bottle and shake.",
+    "Pick up the light gray bottle with the right arm and shake.",
+    "Pick up the light gray bottle and shake it.",
+    "Grab the light gray bottle and shake it.",
+    "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 bottle with rounded cap top and give it a shake.",
+    "Use the right arm to pick the light gray bottle.",
+    "Shake the light gray bottle after picking it with the right arm.",
+    "Pick and shake the the bottle with rounded cap top with the right arm.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Pick up the light gray bottle with the right arm and shake.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "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 bottle with rounded cap top and give it a shake.",
+    "Use the right arm to pick the bottle with rounded cap top.",
+    "Shake the bottle with rounded cap top after picking it with the right arm.",
+    "Pick and shake the the bottle with rounded cap top with the right arm.",
+    "Use the right arm to grab the bottle with rounded cap top and shake.",
+    "Pick up the light gray bottle with the right arm and shake.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "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 give it a shake.",
+    "Use the right arm to pick the light gray bottle.",
+    "Shake the gray bottle for holding drinks after picking it with the right arm.",
+    "Pick and shake the the bottle with rounded cap top with the right arm.",
+    "Use the right arm to grab the gray bottle for holding drinks and shake.",
+    "Pick up the bottle with rounded cap top with the right arm and shake.",
+    "Pick up the light gray bottle and shake it.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "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 gray bottle for holding drinks and give it a shake.",
+    "Use the right arm to pick the bottle with rounded cap top.",
+    "Shake the bottle with rounded cap top after picking it with the right arm.",
+    "Pick and shake the the bottle with rounded cap top with the right arm.",
+    "Use the right arm to grab the light gray bottle and shake.",
+    "Pick up the gray bottle for holding drinks with the right arm and shake.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Grab the light gray bottle and shake it.",
+    "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 bottle with rounded cap top and give it a shake.",
+    "Use the right arm to pick the bottle with rounded cap top.",
+    "Shake the bottle with rounded cap top after picking it with the right arm.",
+    "Pick and shake the the gray bottle for holding drinks with the right arm.",
+    "Use the right arm to grab the light gray bottle and shake.",
+    "Pick up the bottle with rounded cap top with the right arm and shake.",
+    "Pick up the light gray bottle and shake it.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "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 bottle with rounded cap top and give it a shake.",
+    "Use the right arm to pick the light gray bottle.",
+    "Shake the gray bottle for holding drinks after picking it with the right arm.",
+    "Pick and shake the the gray bottle for holding drinks 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 with the right arm and shake.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Grab the light gray bottle and shake it.",
+    "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 gray bottle for holding drinks and give it a shake.",
+    "Use the right arm to pick the bottle with rounded cap top.",
+    "Shake the gray bottle for holding drinks after picking it with the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007225.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007225.json
new file mode 100644
index 0000000000000000000000000000000000000000..b81ec8cd1ef3a9baa28d3bd39129d8d25c2f1f68
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007225.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the bottle with black label up using the right arm and shake it.",
+    "Lift the bottle with brown and white patterns with the right arm and give it a shake.",
+    "Pick the brown bottle up with the right arm and shake.",
+    "Utilize the right arm to hold the bottle with black label and shake it.",
+    "Hold the small bottle with decorative design with the right arm and shake lightly.",
+    "With the right arm, pick the bottle with brown and white patterns and shake properly.",
+    "Catch the hand-sized plastic bottle and shake it instantly.",
+    "Grab the brown bottle with the right arm and shake.",
+    "Lift the hand-sized plastic bottle and shake it thoroughly.",
+    "Shake the brown bottle after lifting it.",
+    "Pick up the bottle with black label and shake it.",
+    "Grasp the bottle with black label with the right arm and shake it.",
+    "Grab the curved bottle with white top firmly, shake it, and put it down.",
+    "Use the right arm to hold the white-capped bottle and shake it.",
+    "Shake the brown bottle firmly after grabbing.",
+    "Use the right arm to pick and shake the brown bottle.",
+    "Grab and shake the plastic bottle using the right arm.",
+    "Lift the white-capped bottle and shake it gently.",
+    "Secure the curved bottle with white top, shake it, and place it down.",
+    "Grab the white-capped bottle and give it a shake.",
+    "Secure the brown bottle and perform a shake.",
+    "Pick up the white-capped bottle and shake it well.",
+    "Grab the smooth brown and white patterned bottle and shake it steadily.",
+    "Lift the small curved plastic bottle with the right arm and shake.",
+    "Shake the hand-sized plastic bottle after grabbing it.",
+    "Grab the plastic bottle and move it to shake.",
+    "Grip the bottle with white screw cap using the right arm and shake.",
+    "Use the right arm to grab the bottle with black label and shake properly.",
+    "Shake the bottle with white screw cap after grabbing it.",
+    "Grab the hand-sized plastic bottle using the right arm, then shake.",
+    "Use the right arm to lift and shake the bottle with white screw cap.",
+    "Shake the small bottle with decorative design after holding it firmly.",
+    "Hold and shake the the bottle with brown and white patterns carefully.",
+    "Shake the bottle with brown and white patterns after grabbing it.",
+    "Shake the hand-sized plastic bottle thoroughly after grabbing it.",
+    "Hold the bottle with white screw cap, shake it briefly.",
+    "Take the brown bottle using the right arm and give it a shake.",
+    "Lift up the brown bottle using the right arm, then shake.",
+    "Pick the bottle with black label and perform shaking motion.",
+    "Shake the the bottle with brown and white patterns properly after lifting.",
+    "Hold the bottle holding liquid and shake it properly.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Use the right arm to grab the curved bottle with white top and shake it.",
+    "Use the right arm to lift and shake the curved bottle with white top.",
+    "Grab the small bottle with decorative design carefully and shake.",
+    "Lift the bottle with white screw cap with the right arm and shake it.",
+    "Hold the smooth brown and white patterned bottle steady, then shake it.",
+    "Pick the bottle with white screw cap, shake it with the right arm.",
+    "Shake the smooth brown and white patterned bottle using the right arm after grabbing.",
+    "Using the right arm, shake the bottle with black label and then place it back.",
+    "Pick the plastic bottle up using the right arm and shake it.",
+    "Lift the plastic bottle with the right arm and give it a shake.",
+    "Pick the bottle with black label up with the right arm and shake.",
+    "Utilize the right arm to hold the bottle holding liquid and shake it.",
+    "Hold the bottle with white screw cap with the right arm and shake lightly.",
+    "With the right arm, pick the white-capped bottle and shake properly.",
+    "Catch the small curved plastic bottle and shake it instantly.",
+    "Grab the bottle with black label with the right arm and shake.",
+    "Lift the bottle with brown and white patterns and shake it thoroughly.",
+    "Shake the brown bottle after lifting it.",
+    "Pick up the small bottle with decorative design and shake it.",
+    "Grasp the bottle with black label with the right arm and shake it.",
+    "Grab the smooth brown and white patterned bottle firmly, shake it, and put it down.",
+    "Use the right arm to hold the curved bottle with white top and shake it.",
+    "Shake the bottle with white screw cap firmly after grabbing.",
+    "Use the right arm to pick and shake the brown bottle.",
+    "Grab and shake the white-capped bottle using the right arm.",
+    "Lift the brown bottle and shake it gently.",
+    "Secure the white-capped bottle, shake it, and place it down.",
+    "Grab the plastic bottle and give it a shake.",
+    "Secure the bottle with brown and white patterns and perform a shake.",
+    "Pick up the bottle holding liquid and shake it well.",
+    "Grab the bottle with white screw cap and shake it steadily.",
+    "Lift the hand-sized plastic bottle with the right arm and shake.",
+    "Shake the small curved plastic bottle after grabbing it.",
+    "Grab the smooth brown and white patterned bottle and move it to shake.",
+    "Grip the plastic bottle using the right arm and shake.",
+    "Use the right arm to grab the brown bottle and shake properly.",
+    "Shake the bottle with white screw cap after grabbing it.",
+    "Grab the smooth brown and white patterned bottle using the right arm, then shake.",
+    "Use the right arm to lift and shake the curved bottle with white top.",
+    "Shake the bottle with black label after holding it firmly.",
+    "Hold and shake the the hand-sized plastic bottle carefully.",
+    "Shake the bottle with brown and white patterns after grabbing it.",
+    "Shake the small curved plastic bottle thoroughly after grabbing it.",
+    "Hold the curved bottle with white top, shake it briefly.",
+    "Take the brown bottle using the right arm and give it a shake.",
+    "Lift up the small curved plastic bottle using the right arm, then shake.",
+    "Pick the bottle holding liquid and perform shaking motion.",
+    "Shake the the bottle holding liquid properly after lifting.",
+    "Hold the bottle with brown and white patterns and shake it properly.",
+    "Use the right arm to lift and shake the smooth brown and white patterned bottle.",
+    "Use the right arm to grab the white-capped bottle and shake it.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Grab the smooth brown and white patterned bottle carefully and shake.",
+    "Lift the plastic bottle with the right arm and shake it.",
+    "Hold the bottle with white screw cap steady, then shake it.",
+    "Pick the white-capped bottle, shake it with the right arm.",
+    "Shake the brown bottle using the right arm after grabbing.",
+    "Using the right arm, shake the plastic bottle and then place it back."
+  ],
+  "unseen": [
+    "Pick up the brown bottle with glossy swirls and shake it.",
+    "Pick up the brown bottle with glossy swirls with the right arm and shake.",
+    "Shake the glossy brown bottle after picking it with the right arm.",
+    "Use the right arm to grab the brown bottle with glossy swirls and shake.",
+    "Grab the glossy brown bottle and give it a shake.",
+    "Use the right arm to pick the glossy brown bottle.",
+    "Pick up the glossy brown bottle and shake it.",
+    "Grab the cylindrical bottle with curved sides and shake it.",
+    "Pick and shake the the brown bottle with glossy swirls with the right arm.",
+    "Grab the brown bottle with glossy swirls, shake it properly, then set it down.",
+    "Pick up the brown bottle with glossy swirls and shake it.",
+    "Pick up the cylindrical bottle with curved sides with the right arm and shake.",
+    "Shake the glossy brown bottle after picking it with the right arm.",
+    "Use the right arm to grab the glossy brown bottle and shake.",
+    "Grab the glossy brown bottle and give it a shake.",
+    "Use the right arm to pick the glossy brown bottle.",
+    "Pick up the cylindrical bottle with curved sides and shake it.",
+    "Grab the cylindrical bottle with curved sides and shake it.",
+    "Pick and shake the the cylindrical bottle with curved sides with the right arm.",
+    "Grab the cylindrical bottle with curved sides, shake it properly, then set it down.",
+    "Pick up the glossy brown bottle and shake it.",
+    "Pick up the glossy brown bottle with the right arm and shake.",
+    "Shake the glossy brown bottle after picking it with the right arm.",
+    "Use the right arm to grab the cylindrical bottle with curved sides and shake.",
+    "Grab the cylindrical bottle with curved sides and give it a shake.",
+    "Use the right arm to pick the cylindrical bottle with curved sides.",
+    "Pick up the glossy brown bottle and shake it.",
+    "Grab the brown bottle with glossy swirls and shake it.",
+    "Pick and shake the the brown bottle with glossy swirls with the right arm.",
+    "Grab the cylindrical bottle with curved sides, shake it properly, then set it down.",
+    "Pick up the brown bottle with glossy swirls and shake it.",
+    "Pick up the cylindrical bottle with curved sides with the right arm and shake.",
+    "Shake the cylindrical bottle with curved sides after picking it with the right arm.",
+    "Use the right arm to grab the brown bottle with glossy swirls and shake.",
+    "Grab the brown bottle with glossy swirls and give it a shake.",
+    "Use the right arm to pick the glossy brown bottle.",
+    "Pick up the brown bottle with glossy swirls and shake it.",
+    "Grab the brown bottle with glossy swirls and shake it.",
+    "Pick and shake the the cylindrical bottle with curved sides with the right arm.",
+    "Grab the brown bottle with glossy swirls, shake it properly, then set it down.",
+    "Pick up the glossy brown bottle and shake it.",
+    "Pick up the brown bottle with glossy swirls with the right arm and shake.",
+    "Shake the brown bottle with glossy swirls after picking it with the right arm.",
+    "Use the right arm to grab the cylindrical bottle with curved sides and shake.",
+    "Grab the cylindrical bottle with curved sides and give it a shake.",
+    "Use the right arm to pick the cylindrical bottle with curved sides.",
+    "Pick up the brown bottle with glossy swirls and shake it.",
+    "Grab the brown bottle with glossy swirls and shake it.",
+    "Pick and shake the the cylindrical bottle with curved sides with the right arm.",
+    "Grab the cylindrical bottle with curved sides, shake it properly, then set it down.",
+    "Pick up the brown bottle with glossy swirls and shake it.",
+    "Pick up the glossy brown bottle with the right arm and shake.",
+    "Shake the glossy brown bottle after picking it with the right arm.",
+    "Use the right arm to grab the glossy brown bottle and shake.",
+    "Grab the cylindrical bottle with curved sides and give it a shake.",
+    "Use the right arm to pick the brown bottle with glossy swirls.",
+    "Pick up the brown bottle with glossy swirls and shake it.",
+    "Grab the brown bottle with glossy swirls and shake it.",
+    "Pick and shake the the glossy brown bottle with the right arm.",
+    "Grab the glossy brown bottle, shake it properly, then set it down.",
+    "Pick up the glossy brown bottle and shake it.",
+    "Pick up the cylindrical bottle with curved sides with the right arm and shake.",
+    "Shake the brown bottle with glossy swirls after picking it with the right arm.",
+    "Use the right arm to grab the cylindrical bottle with curved sides and shake.",
+    "Grab the cylindrical bottle with curved sides and give it a shake.",
+    "Use the right arm to pick the brown bottle with glossy swirls.",
+    "Pick up the brown bottle with glossy swirls and shake it.",
+    "Grab the glossy brown bottle and shake it.",
+    "Pick and shake the the glossy brown bottle with the right arm.",
+    "Grab the cylindrical bottle with curved sides, shake it properly, then set it down.",
+    "Pick up the brown bottle with glossy swirls and shake it.",
+    "Pick up the cylindrical bottle with curved sides with the right arm and shake.",
+    "Shake the glossy brown bottle after picking it with the right arm.",
+    "Use the right arm to grab the cylindrical bottle with curved sides and shake.",
+    "Grab the cylindrical bottle with curved sides and give it a shake.",
+    "Use the right arm to pick the brown bottle with glossy swirls.",
+    "Pick up the brown bottle with glossy swirls and shake it.",
+    "Grab the brown bottle with glossy swirls and shake it.",
+    "Pick and shake the the cylindrical bottle with curved sides with the right arm.",
+    "Grab the cylindrical bottle with curved sides, shake it properly, then set it down.",
+    "Pick up the cylindrical bottle with curved sides and shake it.",
+    "Pick up the cylindrical bottle with curved sides with the right arm and shake.",
+    "Shake the brown bottle with glossy swirls after picking it with the right arm.",
+    "Use the right arm to grab the brown bottle with glossy swirls and shake.",
+    "Grab the brown bottle with glossy swirls and give it a shake.",
+    "Use the right arm to pick the cylindrical bottle with curved sides.",
+    "Pick up the glossy brown bottle and shake it.",
+    "Grab the glossy brown bottle and shake it.",
+    "Pick and shake the the brown bottle with glossy swirls with the right arm.",
+    "Grab the cylindrical bottle with curved sides, shake it properly, then set it down.",
+    "Pick up the brown bottle with glossy swirls and shake it.",
+    "Pick up the cylindrical bottle with curved sides with the right arm and shake.",
+    "Shake the glossy brown bottle after picking it with the right arm.",
+    "Use the right arm to grab the cylindrical bottle with curved sides and shake.",
+    "Grab the cylindrical bottle with curved sides and give it a shake.",
+    "Use the right arm to pick the glossy brown bottle.",
+    "Pick up the brown bottle with glossy swirls and shake it.",
+    "Grab the cylindrical bottle with curved sides and shake it.",
+    "Pick and shake the the brown bottle with glossy swirls with the right arm.",
+    "Grab the glossy brown bottle, shake it properly, then set it down."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007246.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007246.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e1a27e7ba4083e4d0135716313e533e5ec10947
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007246.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the black bottle and shake it steadily.",
+    "Shake the yellow capped drink bottle after holding it firmly.",
+    "Shake the medium bottle with yellow cap using the right arm after grabbing.",
+    "Utilize the right arm to hold the medium bottle with yellow cap and shake it.",
+    "Hold the bottle with blue and yellow print, shake it briefly.",
+    "Grab and shake the yellow capped drink bottle using the right arm.",
+    "Use the right arm to hold the bottle with blue and yellow print and shake it.",
+    "Pick the black cylindrical bottle with ridges and perform shaking motion.",
+    "Use the right arm to lift and shake the beverage bottle with black body.",
+    "Use the right arm to lift and shake the beverage bottle with black body.",
+    "Use the right arm to grab the plastic bottle with colorful label and shake properly.",
+    "Shake the drink bottle with rounded yellow lid after grabbing it.",
+    "Secure the yellow capped drink bottle and perform a shake.",
+    "Use the right arm to pick and shake the smooth black bottle with ridges.",
+    "Lift up the beverage bottle with black body using the right arm, then shake.",
+    "Hold and shake the the black plastic bottle with Pepsi logo carefully.",
+    "Shake the plastic bottle with colorful label after grabbing it.",
+    "Take the bottle with blue and yellow print using the right arm and give it a shake.",
+    "Hold the black cylindrical bottle with ridges steady, then shake it.",
+    "Shake the the plastic bottle with colorful label properly after lifting.",
+    "Grab the medium black bottle with printed label using the right arm, then shake.",
+    "Grab the bottle with blue and yellow print carefully and shake.",
+    "Pick up the medium bottle with yellow cap and shake it.",
+    "Lift the bottle with blue and yellow print with the right arm and shake it.",
+    "Pick the black bottle up with the right arm and shake.",
+    "Grab the drink bottle with rounded yellow lid with the right arm and shake.",
+    "Use the right arm to grab the yellow-capped cylindrical bottle and shake it.",
+    "Catch the plastic bottle with colorful label and shake it instantly.",
+    "Pick the medium black bottle with printed label up using the right arm and shake it.",
+    "Using the right arm, shake the smooth black bottle with ridges and then place it back.",
+    "Hold the smooth black bottle with ridges and shake it properly.",
+    "Shake the black cylindrical bottle with ridges thoroughly after grabbing it.",
+    "Shake the drink bottle with rounded yellow lid after lifting it.",
+    "Grasp the medium black bottle with printed label with the right arm and shake it.",
+    "Hold the black cylindrical bottle with ridges with the right arm and shake lightly.",
+    "Grip the black cylindrical bottle with ridges using the right arm and shake.",
+    "Grab the plastic bottle with colorful label and give it a shake.",
+    "Use the right arm to lift and shake the yellow capped drink bottle.",
+    "Lift the yellow-capped cylindrical bottle with the right arm and give it a shake.",
+    "Pick up the yellow capped drink bottle and shake it well.",
+    "Pick the drink bottle with rounded yellow lid, shake it with the right arm.",
+    "Grab the medium bottle with yellow cap firmly, shake it, and put it down.",
+    "Shake the smooth black bottle with ridges after grabbing it.",
+    "Shake the black plastic bottle with Pepsi logo firmly after grabbing.",
+    "Lift the yellow capped drink bottle with the right arm and shake.",
+    "Grab the bottle with blue and yellow print and move it to shake.",
+    "Lift the smooth black bottle with ridges and shake it thoroughly.",
+    "Lift the drink bottle with rounded yellow lid and shake it gently.",
+    "Secure the black plastic bottle with Pepsi logo, shake it, and place it down.",
+    "With the right arm, pick the beverage bottle with black body and shake properly.",
+    "Grab the smooth black bottle with ridges and shake it steadily.",
+    "Shake the yellow capped drink bottle after holding it firmly.",
+    "Shake the black cylindrical bottle with ridges using the right arm after grabbing.",
+    "Utilize the right arm to hold the beverage bottle with black body and shake it.",
+    "Hold the beverage bottle with black body, shake it briefly.",
+    "Grab and shake the smooth black bottle with ridges using the right arm.",
+    "Use the right arm to hold the drink bottle with rounded yellow lid and shake it.",
+    "Pick the plastic bottle with colorful label and perform shaking motion.",
+    "Use the right arm to lift and shake the black cylindrical bottle with ridges.",
+    "Use the right arm to lift and shake the medium black bottle with printed label.",
+    "Use the right arm to grab the yellow capped drink bottle and shake properly.",
+    "Shake the black cylindrical bottle with ridges after grabbing it.",
+    "Secure the black cylindrical bottle with ridges and perform a shake.",
+    "Use the right arm to pick and shake the yellow capped drink bottle.",
+    "Lift up the drink bottle with rounded yellow lid using the right arm, then shake.",
+    "Hold and shake the the black plastic bottle with Pepsi logo carefully.",
+    "Shake the beverage bottle with black body after grabbing it.",
+    "Take the beverage bottle with black body using the right arm and give it a shake.",
+    "Hold the black cylindrical bottle with ridges steady, then shake it.",
+    "Shake the the drink bottle with rounded yellow lid properly after lifting.",
+    "Grab the black cylindrical bottle with ridges using the right arm, then shake.",
+    "Grab the black cylindrical bottle with ridges carefully and shake.",
+    "Pick up the black bottle and shake it.",
+    "Lift the drink bottle with rounded yellow lid with the right arm and shake it.",
+    "Pick the plastic bottle with colorful label up with the right arm and shake.",
+    "Grab the black cylindrical bottle with ridges with the right arm and shake.",
+    "Use the right arm to grab the yellow-capped cylindrical bottle and shake it.",
+    "Catch the bottle with blue and yellow print and shake it instantly.",
+    "Pick the yellow-capped cylindrical bottle up using the right arm and shake it.",
+    "Using the right arm, shake the beverage bottle with black body and then place it back.",
+    "Hold the yellow capped drink bottle and shake it properly.",
+    "Shake the black plastic bottle with Pepsi logo thoroughly after grabbing it.",
+    "Shake the plastic bottle with colorful label after lifting it.",
+    "Grasp the drink bottle with rounded yellow lid with the right arm and shake it.",
+    "Hold the black cylindrical bottle with ridges with the right arm and shake lightly.",
+    "Grip the beverage bottle with black body using the right arm and shake.",
+    "Grab the yellow capped drink bottle and give it a shake.",
+    "Use the right arm to lift and shake the drink bottle with rounded yellow lid.",
+    "Lift the bottle with blue and yellow print with the right arm and give it a shake.",
+    "Pick up the medium bottle with yellow cap and shake it well.",
+    "Pick the black bottle, shake it with the right arm.",
+    "Grab the beverage bottle with black body firmly, shake it, and put it down.",
+    "Shake the bottle with blue and yellow print after grabbing it.",
+    "Shake the beverage bottle with black body firmly after grabbing.",
+    "Lift the smooth black bottle with ridges with the right arm and shake.",
+    "Grab the yellow-capped cylindrical bottle and move it to shake.",
+    "Lift the bottle with blue and yellow print and shake it thoroughly.",
+    "Lift the black plastic bottle with Pepsi logo and shake it gently.",
+    "Secure the black bottle, shake it, and place it down.",
+    "With the right arm, pick the bottle with blue and yellow print and shake properly."
+  ],
+  "unseen": [
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with ridges near base and shake.",
+    "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 up the bottle with ridges near base and shake it.",
+    "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.",
+    "Pick and shake the the plastic bottle with blue label with the right arm.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Use the right arm to pick the plastic bottle with blue label.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "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 up the bottle with ridges near base and shake it.",
+    "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 and shake the the hand-sized bottle with ridged bottom with the right arm.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Use the right arm to pick the plastic bottle with blue label.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with ridges near base and shake.",
+    "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 up the plastic bottle with blue label and shake it.",
+    "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 and shake the the hand-sized bottle with ridged bottom with the right arm.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Use the right arm to pick the plastic bottle with blue label.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Use the right arm to grab the plastic bottle with blue label and shake.",
+    "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.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "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 and shake the the plastic bottle with blue label with the right arm.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Use the right arm to pick the bottle with ridges near base.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with ridges near base and shake.",
+    "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 up the plastic bottle with blue label and shake it.",
+    "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.",
+    "Pick and shake the the bottle with ridges near base with the right arm.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Use the right arm to pick the plastic bottle with blue label.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with ridges near base and shake.",
+    "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.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "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 and shake the the hand-sized bottle with ridged bottom with the right arm.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Use the right arm to pick the plastic bottle with blue label.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "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 up the bottle with ridges near base and shake it.",
+    "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 and shake the the bottle with ridges near base with the right arm.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Use the right arm to pick the hand-sized bottle with ridged bottom.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Use the right arm to grab the plastic bottle with blue label and shake.",
+    "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 up the bottle with ridges near base and shake it.",
+    "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 and shake the the plastic bottle with blue label with the right arm.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Use the right arm to pick the hand-sized bottle with ridged bottom.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "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 up the plastic bottle with blue label and shake it.",
+    "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.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the right arm.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Use the right arm to pick the bottle with ridges near base.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Use the right arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "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 up the plastic bottle with blue label and shake it.",
+    "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.",
+    "Pick and shake the the plastic bottle with blue label with the right arm.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Use the right arm to pick the hand-sized bottle with ridged bottom."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007259.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007259.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc4b220e4cc44c4229c0af61fa8852b727b82762
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007259.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the medium orange bottle up using the right arm and shake it.",
+    "Use the right arm to grab the cylindrical orange and white bottle and shake it.",
+    "Grasp the orange and white bottle with cap with the right arm and shake it.",
+    "Secure the bottle with ribbed orange bottom and perform a shake.",
+    "Use the right arm to pick and shake the cylindrical orange and white bottle.",
+    "Grab the medium orange bottle and move it to shake.",
+    "Shake the smooth plastic bottle thoroughly after grabbing it.",
+    "Grab the medium bottle with orange lid with the right arm and shake.",
+    "Pick the medium bottle with orange lid, shake it with the right arm.",
+    "Secure the white and orange plastic bottle, shake it, and place it down.",
+    "Lift the orange bottle with the right arm and shake it.",
+    "Pick up the orange bottle and shake it.",
+    "Shake the the bottle with orange cap properly after lifting.",
+    "Using the right arm, shake the cylindrical orange and white bottle and then place it back.",
+    "Use the right arm to hold the yellow label bottle and shake it.",
+    "Lift the plastic bottle with the right arm and shake.",
+    "With the right arm, pick the drinking bottle with yellow label and shake properly.",
+    "Use the right arm to grab the orange and white bottle with cap and shake properly.",
+    "Catch the orange and white bottle with cap and shake it instantly.",
+    "Hold the orange bottle and shake it properly.",
+    "Shake the bottle with orange cap using the right arm after grabbing.",
+    "Hold the bottle with ribbed orange bottom, shake it briefly.",
+    "Take the bottle with ribbed orange bottom using the right arm and give it a shake.",
+    "Lift the white and orange plastic bottle and shake it gently.",
+    "Grab the white and orange plastic bottle and shake it steadily.",
+    "Hold the medium bottle with orange lid with the right arm and shake lightly.",
+    "Use the right arm to lift and shake the bottle with orange cap.",
+    "Grab the medium orange bottle carefully and shake.",
+    "Grip the cylindrical orange and white bottle using the right arm and shake.",
+    "Hold the bottle with ribbed orange bottom steady, then shake it.",
+    "Lift up the cylindrical orange and white bottle using the right arm, then shake.",
+    "Pick the cylindrical orange and white bottle up with the right arm and shake.",
+    "Use the right arm to lift and shake the yellow label bottle.",
+    "Shake the orange bottle firmly after grabbing.",
+    "Grab the bottle with orange cap and give it a shake.",
+    "Grab the orange bottle using the right arm, then shake.",
+    "Utilize the right arm to hold the medium orange bottle and shake it.",
+    "Hold and shake the the bottle with ribbed orange bottom carefully.",
+    "Lift the medium orange bottle and shake it thoroughly.",
+    "Pick up the orange and white bottle with cap and shake it well.",
+    "Grab the orange bottle firmly, shake it, and put it down.",
+    "Grab and shake the drinking bottle with yellow label using the right arm.",
+    "Lift the bottle with orange cap with the right arm and give it a shake.",
+    "Shake the medium bottle with orange lid after grabbing it.",
+    "Shake the drinking bottle with yellow label after grabbing it.",
+    "Pick the bottle with orange cap and perform shaking motion.",
+    "Shake the white and orange plastic bottle after lifting it.",
+    "Shake the plastic bottle after holding it firmly.",
+    "Shake the medium bottle with orange lid after grabbing it.",
+    "Use the right arm to lift and shake the medium bottle with orange lid.",
+    "Pick the medium orange bottle up using the right arm and shake it.",
+    "Use the right arm to grab the cylindrical orange and white bottle and shake it.",
+    "Grasp the cylindrical orange and white bottle with the right arm and shake it.",
+    "Secure the drinking bottle with yellow label and perform a shake.",
+    "Use the right arm to pick and shake the bottle with ribbed orange bottom.",
+    "Grab the yellow label bottle and move it to shake.",
+    "Shake the plastic bottle thoroughly after grabbing it.",
+    "Grab the yellow label bottle with the right arm and shake.",
+    "Pick the yellow label bottle, shake it with the right arm.",
+    "Secure the bottle with orange cap, shake it, and place it down.",
+    "Lift the smooth plastic bottle with the right arm and shake it.",
+    "Pick up the drinking bottle with yellow label and shake it.",
+    "Shake the the plastic bottle properly after lifting.",
+    "Using the right arm, shake the cylindrical orange and white bottle and then place it back.",
+    "Use the right arm to hold the plastic bottle and shake it.",
+    "Lift the drinking bottle with yellow label with the right arm and shake.",
+    "With the right arm, pick the bottle with orange cap and shake properly.",
+    "Use the right arm to grab the medium orange bottle and shake properly.",
+    "Catch the plastic bottle and shake it instantly.",
+    "Hold the yellow label bottle and shake it properly.",
+    "Shake the bottle with ribbed orange bottom using the right arm after grabbing.",
+    "Hold the smooth plastic bottle, shake it briefly.",
+    "Take the medium orange bottle using the right arm and give it a shake.",
+    "Lift the white and orange plastic bottle and shake it gently.",
+    "Grab the smooth plastic bottle and shake it steadily.",
+    "Hold the bottle with ribbed orange bottom with the right arm and shake lightly.",
+    "Use the right arm to lift and shake the white and orange plastic bottle.",
+    "Grab the medium orange bottle carefully and shake.",
+    "Grip the orange and white bottle with cap using the right arm and shake.",
+    "Hold the drinking bottle with yellow label steady, then shake it.",
+    "Lift up the drinking bottle with yellow label using the right arm, then shake.",
+    "Pick the orange bottle up with the right arm and shake.",
+    "Use the right arm to lift and shake the white and orange plastic bottle.",
+    "Shake the medium orange bottle firmly after grabbing.",
+    "Grab the bottle with orange cap and give it a shake.",
+    "Grab the medium bottle with orange lid using the right arm, then shake.",
+    "Utilize the right arm to hold the yellow label bottle and shake it.",
+    "Hold and shake the the medium orange bottle carefully.",
+    "Lift the bottle with ribbed orange bottom and shake it thoroughly.",
+    "Pick up the plastic bottle and shake it well.",
+    "Grab the smooth plastic bottle firmly, shake it, and put it down.",
+    "Grab and shake the white and orange plastic bottle using the right arm.",
+    "Lift the bottle with ribbed orange bottom with the right arm and give it a shake.",
+    "Shake the medium bottle with orange lid after grabbing it.",
+    "Shake the medium orange bottle after grabbing it.",
+    "Pick the bottle with orange cap and perform shaking motion.",
+    "Shake the orange bottle after lifting it.",
+    "Shake the medium bottle with orange lid after holding it firmly.",
+    "Shake the smooth plastic bottle after grabbing it.",
+    "Use the right arm to lift and shake the yellow label bottle."
+  ],
+  "unseen": [
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Grab the bottle with curved body and shake it.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "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 and shake the the bottle with curved body 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 up the bottle with curved body and shake it.",
+    "Shake the curvy orange bottle with white section after picking it 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.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Pick and shake the the curvy orange bottle with white section 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 up the bottle with curved body and shake it.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Pick and shake the the curvy orange bottle with white section 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 up the bottle with curved body and shake it.",
+    "Shake the curvy orange bottle with white section after picking it 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.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Pick and shake the the bottle with yellow sticker label 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 up the bottle with curved body and shake it.",
+    "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.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "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 and shake the the curvy orange bottle with white section with the right arm.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "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.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "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 and shake the the bottle with curved body 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 up the bottle with curved body and shake it.",
+    "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.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Pick and shake the the bottle with yellow sticker label 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 up the bottle with yellow sticker label and shake it.",
+    "Shake the curvy orange bottle with white section after picking it 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.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "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.",
+    "Grab the bottle with curved body and shake it.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Pick and shake the the bottle with yellow sticker label 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 up the bottle with yellow sticker label and shake it.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007282.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007282.json
new file mode 100644
index 0000000000000000000000000000000000000000..70beddf56a39cca20040b194a217d9eb7bb8c628
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007282.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grasp the plastic bottle with the right arm and shake it.",
+    "Secure the rectangular brown body with white top and perform a shake.",
+    "Use the right arm to lift and shake the dark brown bottle with a squared body.",
+    "Lift the dark brown bottle with a squared body and shake it gently.",
+    "Pick up the bottle with green cap and shake it well.",
+    "Grab the smooth plastic bottle with white cap using the right arm, then shake.",
+    "Shake the brown bottle with rounded rectangular shape using the right arm after grabbing.",
+    "Pick the brown bottle with rounded rectangular shape up with the right arm and shake.",
+    "Shake the bottle with flat sides and logo after holding it firmly.",
+    "Hold the brown bottle steady, then shake it.",
+    "Use the right arm to hold the smooth brown bottle with green label and shake it.",
+    "Grab the rectangular-shaped bottle with round cap and move it to shake.",
+    "Use the right arm to grab the bottle with flat sides and logo and shake it.",
+    "Secure the smooth plastic bottle with white cap, shake it, and place it down.",
+    "Grab the brown bottle with rounded rectangular shape and shake it steadily.",
+    "Pick up the plastic bottle and shake it.",
+    "Take the dark brown bottle with a squared body using the right arm and give it a shake.",
+    "Lift up the rectangular brown body with white top using the right arm, then shake.",
+    "Lift the rectangular-shaped bottle with round cap with the right arm and give it a shake.",
+    "Pick the brown bottle, shake it with the right arm.",
+    "Grab the bottle with green cap firmly, shake it, and put it down.",
+    "Catch the smooth plastic bottle with white cap and shake it instantly.",
+    "Lift the brown bottle with rounded rectangular shape and shake it thoroughly.",
+    "Lift the medium bottle with glossy surface with the right arm and shake it.",
+    "Use the right arm to grab the bottle with green cap and shake properly.",
+    "Shake the rectangular brown body with white top after grabbing it.",
+    "Shake the smooth brown bottle with green label after grabbing it.",
+    "Shake the smooth plastic bottle with white cap after grabbing it.",
+    "Lift the rectangular brown body with white top with the right arm and shake.",
+    "Grip the medium-sized brown plastic bottle using the right arm and shake.",
+    "Shake the rectangular-shaped bottle with round cap firmly after grabbing.",
+    "Shake the the brown bottle properly after lifting.",
+    "Grab and shake the bottle with green cap using the right arm.",
+    "Hold the plastic bottle and shake it properly.",
+    "With the right arm, pick the brown bottle with rounded rectangular shape and shake properly.",
+    "Hold the plastic bottle with the right arm and shake lightly.",
+    "Hold and shake the the rectangular brown body with white top carefully.",
+    "Pick the plastic bottle up using the right arm and shake it.",
+    "Pick the bottle with flat sides and logo and perform shaking motion.",
+    "Use the right arm to lift and shake the brown bottle with rounded rectangular shape.",
+    "Shake the brown bottle after lifting it.",
+    "Use the right arm to lift and shake the medium-sized brown plastic bottle.",
+    "Grab the medium-sized brown plastic bottle and give it a shake.",
+    "Grab the medium bottle with glossy surface with the right arm and shake.",
+    "Shake the dark brown bottle with a squared body thoroughly after grabbing it.",
+    "Using the right arm, shake the medium-sized brown plastic bottle and then place it back.",
+    "Hold the rectangular-shaped bottle with round cap, shake it briefly.",
+    "Use the right arm to pick and shake the dark brown bottle with a squared body.",
+    "Grab the brown bottle carefully and shake.",
+    "Utilize the right arm to hold the smooth brown bottle with green label and shake it.",
+    "Grasp the brown bottle with the right arm and shake it.",
+    "Secure the smooth plastic bottle with white cap and perform a shake.",
+    "Use the right arm to lift and shake the bottle with flat sides and logo.",
+    "Lift the brown bottle with rounded rectangular shape and shake it gently.",
+    "Pick up the smooth plastic bottle with white cap and shake it well.",
+    "Grab the medium bottle with glossy surface using the right arm, then shake.",
+    "Shake the bottle with flat sides and logo using the right arm after grabbing.",
+    "Pick the medium bottle with glossy surface up with the right arm and shake.",
+    "Shake the rectangular brown body with white top after holding it firmly.",
+    "Hold the smooth plastic bottle with white cap steady, then shake it.",
+    "Use the right arm to hold the bottle with green cap and shake it.",
+    "Grab the rectangular brown body with white top and move it to shake.",
+    "Use the right arm to grab the bottle with flat sides and logo and shake it.",
+    "Secure the smooth plastic bottle with white cap, shake it, and place it down.",
+    "Grab the plastic bottle and shake it steadily.",
+    "Pick up the plastic bottle and shake it.",
+    "Take the brown bottle with rounded rectangular shape using the right arm and give it a shake.",
+    "Lift up the brown bottle with rounded rectangular shape using the right arm, then shake.",
+    "Lift the rectangular-shaped bottle with round cap with the right arm and give it a shake.",
+    "Pick the bottle with green cap, shake it with the right arm.",
+    "Grab the medium-sized brown plastic bottle firmly, shake it, and put it down.",
+    "Catch the brown bottle and shake it instantly.",
+    "Lift the medium bottle with glossy surface and shake it thoroughly.",
+    "Lift the smooth brown bottle with green label with the right arm and shake it.",
+    "Use the right arm to grab the medium-sized brown plastic bottle and shake properly.",
+    "Shake the plastic bottle after grabbing it.",
+    "Shake the plastic bottle after grabbing it.",
+    "Shake the bottle with green cap after grabbing it.",
+    "Lift the smooth brown bottle with green label with the right arm and shake.",
+    "Grip the rectangular-shaped bottle with round cap using the right arm and shake.",
+    "Shake the smooth plastic bottle with white cap firmly after grabbing.",
+    "Shake the the medium bottle with glossy surface properly after lifting.",
+    "Grab and shake the dark brown bottle with a squared body using the right arm.",
+    "Hold the brown bottle and shake it properly.",
+    "With the right arm, pick the brown bottle and shake properly.",
+    "Hold the smooth brown bottle with green label with the right arm and shake lightly.",
+    "Hold and shake the the smooth plastic bottle with white cap carefully.",
+    "Pick the bottle with green cap up using the right arm and shake it.",
+    "Pick the medium bottle with glossy surface and perform shaking motion.",
+    "Use the right arm to lift and shake the dark brown bottle with a squared body.",
+    "Shake the smooth plastic bottle with white cap after lifting it.",
+    "Use the right arm to lift and shake the medium bottle with glossy surface.",
+    "Grab the rectangular-shaped bottle with round cap and give it a shake.",
+    "Grab the bottle with green cap with the right arm and shake.",
+    "Shake the bottle with flat sides and logo thoroughly after grabbing it.",
+    "Using the right arm, shake the rectangular-shaped bottle with round cap and then place it back.",
+    "Hold the brown bottle, shake it briefly.",
+    "Use the right arm to pick and shake the medium bottle with glossy surface.",
+    "Grab the brown bottle carefully and shake.",
+    "Utilize the right arm to hold the bottle with green cap and shake it."
+  ],
+  "unseen": [
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "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 right arm and shake.",
+    "Use the right arm to pick the medium-sized plastic bottle with capped top.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Shake the liquid container dark brown plastic after picking it with the right arm.",
+    "Grab the medium-sized plastic bottle with capped top and give it a shake.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Use the right arm to grab the liquid container dark brown plastic and shake.",
+    "Pick and shake the the liquid container dark brown plastic with the right arm.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "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 right arm and shake.",
+    "Use the right arm to pick the liquid container dark brown plastic.",
+    "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.",
+    "Shake the liquid container dark brown plastic after picking it with the right arm.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Use the right arm to grab the liquid container dark brown plastic and shake.",
+    "Pick and shake the the liquid container dark brown plastic with the right arm.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Pick up the liquid container dark brown plastic with the right arm and shake.",
+    "Use the right arm to pick the liquid container dark brown plastic.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Shake the liquid container dark brown plastic after picking it with the right arm.",
+    "Grab the bottle with green label and white lid and give it a shake.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Use the right arm to grab the liquid container dark brown plastic and shake.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Pick up the liquid container dark brown plastic with the right arm and shake.",
+    "Use the right arm to pick the bottle with green label and white lid.",
+    "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.",
+    "Shake the liquid container dark brown plastic after picking it with the right arm.",
+    "Grab the medium-sized plastic bottle with capped top and give it a shake.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Pick and shake the the bottle with green label and white lid with the right arm.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Pick up the liquid container dark brown plastic with the right arm and shake.",
+    "Use the right arm to pick the bottle with green label and white lid.",
+    "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.",
+    "Shake the bottle with green label and white lid after picking it with the right arm.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Use the right arm to grab the liquid container dark brown plastic and shake.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Pick up the liquid container dark brown plastic with the right arm and shake.",
+    "Use the right arm to pick the liquid container dark brown plastic.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "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 and give it a shake.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Use the right arm to grab the bottle with green label and white lid and shake.",
+    "Pick and shake the the liquid container dark brown plastic with the right arm.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Pick up the bottle with green label and white lid with the right arm and shake.",
+    "Use the right arm to pick the medium-sized plastic bottle with capped top.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Shake the bottle with green label and white lid after picking it with the right arm.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Use the right arm to grab the liquid container dark brown plastic and shake.",
+    "Pick and shake the the bottle with green label and white lid with the right arm.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Pick up the liquid container dark brown plastic with the right arm and shake.",
+    "Use the right arm to pick the bottle with green label and white lid.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Shake the liquid container dark brown plastic after picking it with the right arm.",
+    "Grab the medium-sized plastic bottle with capped top and give it a shake.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Pick and shake the the liquid container dark brown plastic with the right arm.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Pick up the liquid container dark brown plastic with the right arm and shake.",
+    "Use the right arm to pick the bottle with green label and white lid.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "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 and give it a shake.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Pick and shake the the liquid container dark brown plastic with the right arm.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Pick up the bottle with green label and white lid with the right arm and shake.",
+    "Use the right arm to pick the bottle with green label and white lid.",
+    "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.",
+    "Shake the liquid container dark brown plastic after picking it with the right arm.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008003.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008003.json
new file mode 100644
index 0000000000000000000000000000000000000000..859e0e24ab63aa6c102dcafd09de88a073f444ab
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008003.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the plastic bottle with the right arm and shake.",
+    "Using the right arm, shake the yellow body bottle and then place it back.",
+    "Grab the yellow bottle with flower design and move it to shake.",
+    "Shake the plastic bottle thoroughly after grabbing it.",
+    "Pick the handheld bottle up using the right arm and shake it.",
+    "Use the right arm to pick and shake the bottle with green and white label.",
+    "Grasp the smooth yellow plastic bottle with the right arm and shake it.",
+    "Lift the yellow bottle with flower design with the right arm and shake it.",
+    "Grab the yellow bottle with green label and give it a shake.",
+    "Grab the yellow bottle with cylindrical cap using the right arm, then shake.",
+    "Secure the yellow body bottle and perform a shake.",
+    "Secure the bottle for liquids, shake it, and place it down.",
+    "Hold and shake the the bottle with green and white label carefully.",
+    "Pick the yellow body bottle and perform shaking motion.",
+    "Shake the yellow bottle with cylindrical cap after holding it firmly.",
+    "Grab and shake the plastic bottle using the right arm.",
+    "Lift the yellow body bottle with the right arm and give it a shake.",
+    "Utilize the right arm to hold the bottle with green and white label and shake it.",
+    "Lift the bottle with white cap and shake it thoroughly.",
+    "Shake the bottle with white cap after grabbing it.",
+    "Hold the bottle for liquids and shake it properly.",
+    "Shake the yellow bottle with flower design after grabbing it.",
+    "Catch the yellow bottle with cylindrical cap and shake it instantly.",
+    "Grip the bottle with green and white label using the right arm and shake.",
+    "Take the bottle with white cap using the right arm and give it a shake.",
+    "Shake the rectangular bottle firmly after grabbing.",
+    "Pick the yellow bottle with flower design up with the right arm and shake.",
+    "Lift the rectangular bottle and shake it gently.",
+    "With the right arm, pick the handheld bottle and shake properly.",
+    "Use the right arm to grab the yellow bottle with cylindrical cap and shake properly.",
+    "Grab the bottle with green and white label firmly, shake it, and put it down.",
+    "Pick the yellow bottle with cylindrical cap, shake it with the right arm.",
+    "Use the right arm to hold the bottle for liquids and shake it.",
+    "Shake the yellow body bottle after lifting it.",
+    "Pick up the bottle with green and white label and shake it.",
+    "Grab the yellow bottle with green label and shake it steadily.",
+    "Use the right arm to lift and shake the yellow bottle with green label.",
+    "Use the right arm to grab the yellow bottle with green label and shake it.",
+    "Shake the yellow body bottle after grabbing it.",
+    "Hold the bottle with white cap with the right arm and shake lightly.",
+    "Grab the yellow bottle with flower design with the right arm and shake.",
+    "Shake the the yellow bottle with cylindrical cap properly after lifting.",
+    "Hold the yellow body bottle, shake it briefly.",
+    "Shake the yellow bottle with cylindrical cap using the right arm after grabbing.",
+    "Use the right arm to lift and shake the yellow bottle.",
+    "Lift up the yellow bottle with green label using the right arm, then shake.",
+    "Use the right arm to lift and shake the bottle with green and white label.",
+    "Pick up the yellow bottle with flower design and shake it well.",
+    "Hold the yellow bottle with flower design steady, then shake it.",
+    "Grab the bottle for liquids carefully and shake.",
+    "Lift the yellow bottle with cylindrical cap with the right arm and shake.",
+    "Using the right arm, shake the yellow bottle with green label and then place it back.",
+    "Grab the yellow bottle with green label and move it to shake.",
+    "Shake the yellow bottle with green label thoroughly after grabbing it.",
+    "Pick the yellow bottle up using the right arm and shake it.",
+    "Use the right arm to pick and shake the smooth yellow plastic bottle.",
+    "Grasp the handheld bottle with the right arm and shake it.",
+    "Lift the yellow body bottle with the right arm and shake it.",
+    "Grab the yellow bottle and give it a shake.",
+    "Grab the yellow bottle using the right arm, then shake.",
+    "Secure the bottle with white cap and perform a shake.",
+    "Secure the yellow bottle with flower design, shake it, and place it down.",
+    "Hold and shake the the yellow bottle with green label carefully.",
+    "Pick the yellow bottle and perform shaking motion.",
+    "Shake the plastic bottle after holding it firmly.",
+    "Grab and shake the handheld bottle using the right arm.",
+    "Lift the handheld bottle with the right arm and give it a shake.",
+    "Utilize the right arm to hold the plastic bottle and shake it.",
+    "Lift the yellow bottle with green label and shake it thoroughly.",
+    "Shake the yellow bottle after grabbing it.",
+    "Hold the rectangular bottle and shake it properly.",
+    "Shake the yellow bottle after grabbing it.",
+    "Catch the handheld bottle and shake it instantly.",
+    "Grip the bottle with green and white label using the right arm and shake.",
+    "Take the plastic bottle using the right arm and give it a shake.",
+    "Shake the yellow bottle firmly after grabbing.",
+    "Pick the yellow bottle with green label up with the right arm and shake.",
+    "Lift the bottle with white cap and shake it gently.",
+    "With the right arm, pick the yellow body bottle and shake properly.",
+    "Use the right arm to grab the yellow bottle with flower design and shake properly.",
+    "Grab the yellow bottle with green label firmly, shake it, and put it down.",
+    "Pick the yellow bottle with green label, shake it with the right arm.",
+    "Use the right arm to hold the yellow body bottle and shake it.",
+    "Shake the plastic bottle after lifting it.",
+    "Pick up the rectangular bottle and shake it.",
+    "Grab the smooth yellow plastic bottle and shake it steadily.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Use the right arm to grab the yellow bottle with green label and shake it.",
+    "Shake the smooth yellow plastic bottle after grabbing it.",
+    "Hold the handheld bottle with the right arm and shake lightly.",
+    "Grab the bottle for liquids with the right arm and shake.",
+    "Shake the the yellow bottle with cylindrical cap properly after lifting.",
+    "Hold the rectangular bottle, shake it briefly.",
+    "Shake the bottle with white cap using the right arm after grabbing.",
+    "Use the right arm to lift and shake the smooth yellow plastic bottle.",
+    "Lift up the yellow bottle with cylindrical cap using the right arm, then shake.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Pick up the yellow bottle and shake it well.",
+    "Hold the bottle with white cap steady, then shake it.",
+    "Grab the yellow bottle with green label carefully and shake."
+  ],
+  "unseen": [
+    "Use the right arm to pick the bottle with rounded edges.",
+    "Grab the medium bottle and give it a shake.",
+    "Pick up the bottle with rounded edges with the right arm and shake.",
+    "Pick and shake the the bottle with rounded edges with the right arm.",
+    "Grab the bottle with printed label and shake it.",
+    "Shake the medium bottle after picking it with the right arm.",
+    "Pick up the bottle with printed label and shake it.",
+    "Grab the bottle with printed label, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with rounded edges and shake.",
+    "Pick up the medium bottle and shake it.",
+    "Use the right arm to pick the medium bottle.",
+    "Grab the medium bottle and give it a shake.",
+    "Pick up the bottle with printed label with the right arm and shake.",
+    "Pick and shake the the bottle with rounded edges with the right arm.",
+    "Grab the bottle with rounded edges and shake it.",
+    "Shake the bottle with rounded edges after picking it with the right arm.",
+    "Pick up the medium bottle and shake it.",
+    "Grab the medium bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with rounded edges and shake.",
+    "Pick up the bottle with rounded edges and shake it.",
+    "Use the right arm to pick the medium bottle.",
+    "Grab the medium bottle and give it a shake.",
+    "Pick up the medium bottle with the right arm and shake.",
+    "Pick and shake the the bottle with rounded edges with the right arm.",
+    "Grab the bottle with printed label and shake it.",
+    "Shake the medium bottle after picking it with the right arm.",
+    "Pick up the bottle with rounded edges and shake it.",
+    "Grab the bottle with printed label, shake it properly, then set it down.",
+    "Use the right arm to grab the medium bottle and shake.",
+    "Pick up the medium bottle and shake it.",
+    "Use the right arm to pick the bottle with rounded edges.",
+    "Grab the bottle with rounded edges and give it a shake.",
+    "Pick up the medium bottle with the right arm and shake.",
+    "Pick and shake the the medium bottle with the right arm.",
+    "Grab the bottle with rounded edges and shake it.",
+    "Shake the bottle with rounded edges after picking it with the right arm.",
+    "Pick up the bottle with printed label and shake it.",
+    "Grab the bottle with rounded edges, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with printed label and shake.",
+    "Pick up the medium bottle and shake it.",
+    "Use the right arm to pick the bottle with rounded edges.",
+    "Grab the medium bottle and give it a shake.",
+    "Pick up the bottle with rounded edges with the right arm and shake.",
+    "Pick and shake the the bottle with printed label with the right arm.",
+    "Grab the medium bottle and shake it.",
+    "Shake the bottle with printed label after picking it with the right arm.",
+    "Pick up the bottle with printed label and shake it.",
+    "Grab the bottle with rounded edges, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with rounded edges and shake.",
+    "Pick up the bottle with printed label and shake it.",
+    "Use the right arm to pick the medium bottle.",
+    "Grab the bottle with printed label and give it a shake.",
+    "Pick up the bottle with printed label with the right arm and shake.",
+    "Pick and shake the the bottle with printed label with the right arm.",
+    "Grab the bottle with rounded edges and shake it.",
+    "Shake the bottle with rounded edges after picking it with the right arm.",
+    "Pick up the bottle with rounded edges and shake it.",
+    "Grab the bottle with rounded edges, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with rounded edges and shake.",
+    "Pick up the bottle with printed label and shake it.",
+    "Use the right arm to pick the bottle with rounded edges.",
+    "Grab the bottle with rounded edges and give it a shake.",
+    "Pick up the bottle with rounded edges with the right arm and shake.",
+    "Pick and shake the the bottle with printed label with the right arm.",
+    "Grab the medium bottle and shake it.",
+    "Shake the bottle with rounded edges after picking it with the right arm.",
+    "Pick up the bottle with rounded edges and shake it.",
+    "Grab the medium bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with printed label and shake.",
+    "Pick up the medium bottle and shake it.",
+    "Use the right arm to pick the bottle with rounded edges.",
+    "Grab the medium bottle and give it a shake.",
+    "Pick up the bottle with rounded edges with the right arm and shake.",
+    "Pick and shake the the bottle with rounded edges with the right arm.",
+    "Grab the medium bottle and shake it.",
+    "Shake the bottle with printed label after picking it with the right arm.",
+    "Pick up the bottle with printed label and shake it.",
+    "Grab the bottle with printed label, shake it properly, then set it down.",
+    "Use the right arm to grab the medium bottle and shake.",
+    "Pick up the bottle with rounded edges and shake it.",
+    "Use the right arm to pick the bottle with printed label.",
+    "Grab the bottle with printed label and give it a shake.",
+    "Pick up the bottle with rounded edges with the right arm and shake.",
+    "Pick and shake the the bottle with printed label with the right arm.",
+    "Grab the bottle with rounded edges and shake it.",
+    "Shake the bottle with printed label after picking it with the right arm.",
+    "Pick up the medium bottle and shake it.",
+    "Grab the medium bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the medium bottle and shake.",
+    "Pick up the bottle with rounded edges and shake it.",
+    "Use the right arm to pick the medium bottle.",
+    "Grab the bottle with printed label and give it a shake.",
+    "Pick up the medium bottle with the right arm and shake.",
+    "Pick and shake the the bottle with printed label with the right arm.",
+    "Grab the medium bottle and shake it.",
+    "Shake the medium bottle after picking it with the right arm.",
+    "Pick up the bottle with rounded edges and shake it.",
+    "Grab the medium bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with rounded edges and shake.",
+    "Pick up the bottle with printed label and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008094.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008094.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2b51f8064458378947c08e29c5a40326b7f7e0c
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008094.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the bottle with a smooth plastic body 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 lift and shake the yellow bottle.",
+    "Lift the yellow bottle with a green design with the right arm and shake it.",
+    "Grasp the yellow bottle with the right arm and shake it.",
+    "Hold the plastic bottle and shake it properly.",
+    "Secure the medium rectangular yellow bottle and perform a shake.",
+    "Grab the bottle with a smooth plastic body using the right arm, then shake.",
+    "Pick the bottle with green label and perform shaking motion.",
+    "Grab the bottle with green and white labels and move it to shake.",
+    "With the right arm, pick the medium rectangular yellow bottle and shake properly.",
+    "Pick up the bottle with green and white labels and shake it.",
+    "Pick the yellow container with rounded edges up with the right arm and shake.",
+    "Lift up the rectangular bottle with cylindrical neck using the right arm, then shake.",
+    "Utilize the right arm to hold the medium rectangular yellow bottle and shake it.",
+    "Grip the bottle with green and white labels using the right arm and shake.",
+    "Lift the bottle with a smooth plastic body with the right arm and shake.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Lift the yellow container with rounded edges and shake it thoroughly.",
+    "Secure the bottle with a smooth plastic body, shake it, and place it down.",
+    "Use the right arm to lift and shake the bottle with a smooth plastic body.",
+    "Use the right arm to grab the smooth bottle with rounded edges and shake it.",
+    "Catch the bottle with a smooth plastic body and shake it instantly.",
+    "Shake the bottle with white cap using the right arm after grabbing.",
+    "Hold and shake the the yellow container with rounded edges carefully.",
+    "Shake the the bottle with green label properly after lifting.",
+    "Lift the plastic bottle and shake it gently.",
+    "Shake the yellow container with rounded edges after holding it firmly.",
+    "Hold the plastic bottle steady, then shake it.",
+    "Shake the rectangular bottle with cylindrical neck after grabbing it.",
+    "Shake the medium rectangular yellow bottle after grabbing it.",
+    "Grab and shake the yellow bottle using the right arm.",
+    "Using the right arm, shake the rectangular bottle with cylindrical neck and then place it back.",
+    "Grab the bottle with a smooth plastic body with the right arm and shake.",
+    "Shake the plastic bottle firmly after grabbing.",
+    "Grab the rectangular bottle with cylindrical neck carefully and shake.",
+    "Hold the smooth bottle with rounded edges with the right arm and shake lightly.",
+    "Take the smooth bottle with rounded edges using the right arm and give it a shake.",
+    "Pick the plastic bottle, shake it with the right arm.",
+    "Shake the yellow bottle with a green design after lifting it.",
+    "Pick the bottle with a smooth plastic body up using the right arm and shake it.",
+    "Use the right arm to grab the yellow container with rounded edges and shake properly.",
+    "Shake the plastic bottle thoroughly after grabbing it.",
+    "Grab the rectangular bottle with cylindrical neck firmly, shake it, and put it down.",
+    "Hold the yellow bottle, shake it briefly.",
+    "Pick up the bottle with white cap and shake it well.",
+    "Grab the bottle with a smooth plastic body and shake it steadily.",
+    "Use the right arm to hold the yellow plastic bottle with white top and shake it.",
+    "Grab the medium rectangular yellow bottle and give it a shake.",
+    "Use the right arm to pick and shake the bottle with green and white labels.",
+    "Lift the bottle with white cap with the right arm and give it a shake.",
+    "Shake the plastic bottle after grabbing it.",
+    "Use the right arm to lift and shake the bottle with white cap.",
+    "Lift the medium rectangular yellow bottle with the right arm and shake it.",
+    "Grasp the smooth bottle with rounded edges with the right arm and shake it.",
+    "Hold the plastic bottle and shake it properly.",
+    "Secure the bottle with white cap and perform a shake.",
+    "Grab the smooth bottle with rounded edges using the right arm, then shake.",
+    "Pick the plastic bottle and perform shaking motion.",
+    "Grab the bottle with green and white labels and move it to shake.",
+    "With the right arm, pick the bottle with a smooth plastic body and shake properly.",
+    "Pick up the rectangular bottle with cylindrical neck and shake it.",
+    "Pick the smooth bottle with rounded edges up with the right arm and shake.",
+    "Lift up the yellow plastic bottle with white top using the right arm, then shake.",
+    "Utilize the right arm to hold the bottle with green label and shake it.",
+    "Grip the medium rectangular yellow bottle using the right arm and shake.",
+    "Lift the bottle with a smooth plastic body with the right arm and shake.",
+    "Use the right arm to lift and shake the yellow bottle.",
+    "Lift the rectangular bottle with cylindrical neck and shake it thoroughly.",
+    "Secure the bottle with green and white labels, shake it, and place it down.",
+    "Use the right arm to lift and shake the bottle with green and white labels.",
+    "Use the right arm to grab the bottle with green label and shake it.",
+    "Catch the bottle with green and white labels and shake it instantly.",
+    "Shake the bottle with green label using the right arm after grabbing.",
+    "Hold and shake the the smooth bottle with rounded edges carefully.",
+    "Shake the the bottle with green and white labels properly after lifting.",
+    "Lift the yellow bottle and shake it gently.",
+    "Shake the medium rectangular yellow bottle after holding it firmly.",
+    "Hold the rectangular bottle with cylindrical neck steady, then shake it.",
+    "Shake the rectangular bottle with cylindrical neck after grabbing it.",
+    "Shake the yellow container with rounded edges after grabbing it.",
+    "Grab and shake the bottle with white cap using the right arm.",
+    "Using the right arm, shake the yellow container with rounded edges and then place it back.",
+    "Grab the yellow bottle with a green design with the right arm and shake.",
+    "Shake the plastic bottle firmly after grabbing.",
+    "Grab the bottle with green and white labels carefully and shake.",
+    "Hold the smooth bottle with rounded edges with the right arm and shake lightly.",
+    "Take the rectangular bottle with cylindrical neck using the right arm and give it a shake.",
+    "Pick the plastic bottle, shake it with the right arm.",
+    "Shake the yellow container with rounded edges after lifting it.",
+    "Pick the bottle with green and white labels up using the right arm and shake it.",
+    "Use the right arm to grab the yellow plastic bottle with white top and shake properly.",
+    "Shake the yellow plastic bottle with white top thoroughly after grabbing it.",
+    "Grab the medium rectangular yellow bottle firmly, shake it, and put it down.",
+    "Hold the bottle with green label, shake it briefly.",
+    "Pick up the bottle with a smooth plastic body and shake it well.",
+    "Grab the bottle with green label and shake it steadily.",
+    "Use the right arm to hold the bottle with green and white labels and shake it.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Use the right arm to pick and shake the plastic bottle."
+  ],
+  "unseen": [
+    "Pick up the yellow rectangular bottle with the right arm and shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the right arm to pick the hand-sized yellow plastic bottle.",
+    "Pick and shake the the yellow bottle for liquid storage with the right arm.",
+    "Use the right arm to grab the yellow rectangular bottle and shake.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Shake the yellow rectangular bottle after picking it with the right arm.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the right arm to pick the yellow bottle for liquid storage.",
+    "Pick and shake the the yellow rectangular bottle with the right arm.",
+    "Use the right arm to grab the yellow rectangular bottle and shake.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Pick up the yellow rectangular bottle with the right arm and shake.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Shake the yellow bottle for liquid storage after picking it with the right arm.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the right arm to pick the hand-sized yellow plastic bottle.",
+    "Pick and shake the the yellow rectangular bottle with the right arm.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Pick up the yellow rectangular bottle with the right arm and shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the right arm to pick the hand-sized yellow plastic bottle.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Use the right arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Shake the yellow bottle for liquid storage after picking it with the right arm.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the right arm to pick the yellow bottle for liquid storage.",
+    "Pick and shake the the yellow bottle for liquid storage with the right arm.",
+    "Use the right arm to grab the yellow rectangular bottle and shake.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Pick up the yellow rectangular bottle with the right arm and shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Shake the yellow rectangular bottle after picking it with the right arm.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Pick up the yellow rectangular bottle with the right arm and shake.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Shake the yellow rectangular bottle after picking it with the right arm.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Pick and shake the the yellow bottle for liquid storage with the right arm.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Shake the yellow bottle for liquid storage after picking it with the right arm.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the right arm to pick the hand-sized yellow plastic bottle.",
+    "Pick and shake the the yellow rectangular bottle with the right arm.",
+    "Use the right arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Pick up the yellow rectangular bottle with the right arm and shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Shake the yellow rectangular bottle after picking it with the right arm.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008238.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008238.json
new file mode 100644
index 0000000000000000000000000000000000000000..58ace8528deed4fe7d0f2e7d579cbf9f625b69ba
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008238.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the right arm, shake the bottle with dark brown color and then place it back.",
+    "Take the bottle with dark brown color using the right arm and give it a shake.",
+    "Shake the bottle with dark brown color after grabbing it.",
+    "Shake the the cylindrical bottle with narrow neck properly after lifting.",
+    "Use the right arm to grab the bottle with white cap and shake properly.",
+    "Hold the white-capped brown cylindrical bottle, shake it briefly.",
+    "Grasp the bottle with white cap with the right arm and shake it.",
+    "Catch the handheld brown bottle with white lid and shake it instantly.",
+    "Hold the bottle with white cap steady, then shake it.",
+    "Grab the plastic bottle for liquids firmly, shake it, and put it down.",
+    "Hold the handheld brown bottle with white lid and shake it properly.",
+    "With the right arm, pick the plastic bottle for liquids and shake properly.",
+    "Use the right arm to lift and shake the plastic bottle with printed label.",
+    "Lift the white-capped brown cylindrical bottle with the right arm and shake.",
+    "Grab the rounded bottle with printed details and shake it steadily.",
+    "Pick up the white-capped brown cylindrical bottle and shake it well.",
+    "Pick the medium bottle with smooth texture up using the right arm and shake it.",
+    "Use the right arm to lift and shake the medium bottle with smooth texture.",
+    "Use the right arm to pick and shake the white-capped brown cylindrical bottle.",
+    "Hold and shake the the plastic bottle for liquids carefully.",
+    "Secure the bottle with dark brown color and perform a shake.",
+    "Lift up the bottle with dark brown color using the right arm, then shake.",
+    "Grab the medium bottle with smooth texture using the right arm, then shake.",
+    "Grab and shake the smooth brown bottle using the right arm.",
+    "Hold the bottle with brown body and white top with the right arm and shake lightly.",
+    "Grip the medium plastic bottle using the right arm and shake.",
+    "Pick the medium plastic bottle and perform shaking motion.",
+    "Lift the cylindrical bottle with narrow neck and shake it thoroughly.",
+    "Shake the bottle with brown body and white top after lifting it.",
+    "Use the right arm to lift and shake the smooth brown bottle.",
+    "Shake the bottle with dark brown color firmly after grabbing.",
+    "Shake the medium plastic bottle after grabbing it.",
+    "Grab the medium bottle with smooth texture carefully and shake.",
+    "Use the right arm to grab the handheld brown bottle with white lid and shake it.",
+    "Pick the plastic bottle for liquids, shake it with the right arm.",
+    "Shake the bottle with dark brown color using the right arm after grabbing.",
+    "Secure the handheld brown bottle with white lid, shake it, and place it down.",
+    "Utilize the right arm to hold the medium plastic bottle and shake it.",
+    "Grab the medium bottle with smooth texture with the right arm and shake.",
+    "Lift the rounded bottle with printed details and shake it gently.",
+    "Shake the plastic bottle with printed label after holding it firmly.",
+    "Pick the plastic bottle for liquids up with the right arm and shake.",
+    "Lift the handheld brown bottle with white lid with the right arm and shake it.",
+    "Use the right arm to hold the bottle with brown body and white top and shake it.",
+    "Lift the smooth brown bottle with the right arm and give it a shake.",
+    "Grab the rounded bottle with printed details and move it to shake.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Shake the white-capped brown cylindrical bottle thoroughly after grabbing it.",
+    "Shake the medium bottle with smooth texture after grabbing it.",
+    "Pick up the plastic bottle with printed label and shake it.",
+    "Using the right arm, shake the medium plastic bottle and then place it back.",
+    "Take the plastic bottle for liquids using the right arm and give it a shake.",
+    "Shake the plastic bottle for liquids after grabbing it.",
+    "Shake the the white-capped brown cylindrical bottle properly after lifting.",
+    "Use the right arm to grab the medium bottle with smooth texture and shake properly.",
+    "Hold the cylindrical bottle with narrow neck, shake it briefly.",
+    "Grasp the bottle with brown body and white top with the right arm and shake it.",
+    "Catch the plastic bottle with printed label and shake it instantly.",
+    "Hold the plastic bottle for liquids steady, then shake it.",
+    "Grab the bottle with white cap firmly, shake it, and put it down.",
+    "Hold the medium plastic bottle and shake it properly.",
+    "With the right arm, pick the cylindrical bottle with narrow neck and shake properly.",
+    "Use the right arm to lift and shake the smooth brown bottle.",
+    "Lift the white-capped brown cylindrical bottle with the right arm and shake.",
+    "Grab the bottle with brown body and white top and shake it steadily.",
+    "Pick up the bottle with dark brown color and shake it well.",
+    "Pick the plastic bottle for liquids up using the right arm and shake it.",
+    "Use the right arm to lift and shake the bottle with dark brown color.",
+    "Use the right arm to pick and shake the bottle with white cap.",
+    "Hold and shake the the cylindrical bottle with narrow neck carefully.",
+    "Secure the handheld brown bottle with white lid and perform a shake.",
+    "Lift up the cylindrical bottle with narrow neck using the right arm, then shake.",
+    "Grab the plastic bottle for liquids using the right arm, then shake.",
+    "Grab and shake the white-capped brown cylindrical bottle using the right arm.",
+    "Hold the bottle with brown body and white top with the right arm and shake lightly.",
+    "Grip the bottle with white cap using the right arm and shake.",
+    "Pick the rounded bottle with printed details and perform shaking motion.",
+    "Lift the white-capped brown cylindrical bottle and shake it thoroughly.",
+    "Shake the bottle with dark brown color after lifting it.",
+    "Use the right arm to lift and shake the medium plastic bottle.",
+    "Shake the rounded bottle with printed details firmly after grabbing.",
+    "Shake the plastic bottle with printed label after grabbing it.",
+    "Grab the plastic bottle for liquids carefully and shake.",
+    "Use the right arm to grab the bottle with dark brown color and shake it.",
+    "Pick the rounded bottle with printed details, shake it with the right arm.",
+    "Shake the plastic bottle with printed label using the right arm after grabbing.",
+    "Secure the white-capped brown cylindrical bottle, shake it, and place it down.",
+    "Utilize the right arm to hold the handheld brown bottle with white lid and shake it.",
+    "Grab the bottle with brown body and white top with the right arm and shake.",
+    "Lift the medium plastic bottle and shake it gently.",
+    "Shake the plastic bottle with printed label after holding it firmly.",
+    "Pick the plastic bottle with printed label up with the right arm and shake.",
+    "Lift the medium plastic bottle with the right arm and shake it.",
+    "Use the right arm to hold the bottle with white cap and shake it.",
+    "Lift the white-capped brown cylindrical bottle with the right arm and give it a shake.",
+    "Grab the smooth brown bottle and move it to shake.",
+    "Grab the medium bottle with smooth texture and give it a shake.",
+    "Shake the medium plastic bottle thoroughly after grabbing it.",
+    "Shake the smooth brown bottle after grabbing it.",
+    "Pick up the medium plastic bottle and shake it."
+  ],
+  "unseen": [
+    "Use the right arm to pick the brown cylindrical bottle with label.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Use the right arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick up the lightweight plastic brown bottle with the right arm and shake.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "Grab the brown bottle and give it a shake.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "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.",
+    "Grab the lightweight plastic 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.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Grab the brown bottle and give it a shake.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "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.",
+    "Grab the brown bottle and shake it.",
+    "Use the right arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "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 lightweight plastic brown bottle.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Use the right arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "Grab the brown bottle and give it a 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 brown cylindrical bottle with label and shake it.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Use the right arm to grab the lightweight plastic brown bottle and shake.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle with the right arm and shake.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "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.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Use the right arm to grab the brown bottle and 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.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Grab the brown bottle and give it a shake.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Shake the brown cylindrical bottle with label 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 bottle.",
+    "Grab the brown bottle and shake it.",
+    "Use the right arm to grab the brown bottle and 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.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "Grab the brown bottle and give it a shake.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "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 lightweight plastic brown bottle.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Use the right arm to grab the lightweight plastic brown bottle and shake.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle with the right arm and shake.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Shake the lightweight plastic 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.",
+    "Grab the brown bottle and shake it.",
+    "Use the right arm to grab the brown bottle and 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.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Grab the brown cylindrical bottle with label, 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.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Use the right arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "Grab the brown bottle and give it a shake.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Shake the lightweight plastic brown bottle after picking it with the right arm.",
+    "Pick up the brown bottle and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008321.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008321.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9eed45def5184d0972ab7d962778724f6ec404a
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008321.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the handheld brown bottle with white lid using the right arm after grabbing.",
+    "Hold the bottle with brown body and white top and shake it properly.",
+    "Using the right arm, shake the plastic bottle for liquids and then place it back.",
+    "Lift the bottle with white cap with the right arm and give it a shake.",
+    "Grab the handheld brown bottle with white lid using the right arm, then shake.",
+    "Pick up the bottle with brown body and white top and shake it well.",
+    "Lift the bottle with dark brown color with the right arm and shake it.",
+    "Hold and shake the the smooth brown bottle carefully.",
+    "Pick up the white-capped brown cylindrical bottle and shake it.",
+    "Shake the plastic bottle for liquids after grabbing it.",
+    "Use the right arm to grab the handheld brown bottle with white lid and shake properly.",
+    "Grasp the rounded bottle with printed details with the right arm and shake it.",
+    "Grab the white-capped brown cylindrical bottle and shake it steadily.",
+    "Utilize the right arm to hold the bottle with brown body and white top and shake it.",
+    "Hold the white-capped brown cylindrical bottle steady, then shake it.",
+    "Grab and shake the medium plastic bottle using the right arm.",
+    "Use the right arm to grab the rounded bottle with printed details and shake it.",
+    "Grab the white-capped brown cylindrical bottle and give it a shake.",
+    "Lift up the plastic bottle for liquids using the right arm, then shake.",
+    "Shake the plastic bottle with printed label after lifting it.",
+    "Use the right arm to hold the medium plastic bottle and shake it.",
+    "Hold the bottle with white cap, shake it briefly.",
+    "Grab the handheld brown bottle with white lid firmly, shake it, and put it down.",
+    "Use the right arm to lift and shake the white-capped brown cylindrical bottle.",
+    "Grip the bottle with white cap using the right arm and shake.",
+    "Use the right arm to lift and shake the plastic bottle with printed label.",
+    "Secure the medium plastic bottle, shake it, and place it down.",
+    "Secure the white-capped brown cylindrical bottle and perform a shake.",
+    "Shake the bottle with dark brown color after holding it firmly.",
+    "Pick the handheld brown bottle with white lid up with the right arm and shake.",
+    "Shake the bottle with brown body and white top after grabbing it.",
+    "Hold the medium plastic bottle with the right arm and shake lightly.",
+    "Take the plastic bottle with printed label using the right arm and give it a shake.",
+    "Catch the plastic bottle for liquids and shake it instantly.",
+    "Lift the handheld brown bottle with white lid with the right arm and shake.",
+    "Lift the white-capped brown cylindrical bottle and shake it gently.",
+    "With the right arm, pick the plastic bottle with printed label and shake properly.",
+    "Shake the white-capped brown cylindrical bottle after grabbing it.",
+    "Shake the plastic bottle for liquids firmly after grabbing.",
+    "Lift the bottle with dark brown color and shake it thoroughly.",
+    "Shake the the cylindrical bottle with narrow neck properly after lifting.",
+    "Pick the rounded bottle with printed details, shake it with the right arm.",
+    "Use the right arm to pick and shake the plastic bottle for liquids.",
+    "Grab the smooth brown bottle carefully and shake.",
+    "Grab the medium bottle with smooth texture with the right arm and shake.",
+    "Grab the medium bottle with smooth texture and move it to shake.",
+    "Use the right arm to lift and shake the medium bottle with smooth texture.",
+    "Pick the handheld brown bottle with white lid and perform shaking motion.",
+    "Pick the bottle with brown body and white top up using the right arm and shake it.",
+    "Shake the bottle with brown body and white top thoroughly after grabbing it.",
+    "Shake the medium bottle with smooth texture using the right arm after grabbing.",
+    "Hold the medium bottle with smooth texture and shake it properly.",
+    "Using the right arm, shake the plastic bottle with printed label and then place it back.",
+    "Lift the bottle with dark brown color with the right arm and give it a shake.",
+    "Grab the rounded bottle with printed details using the right arm, then shake.",
+    "Pick up the plastic bottle with printed label and shake it well.",
+    "Lift the smooth brown bottle with the right arm and shake it.",
+    "Hold and shake the the bottle with white cap carefully.",
+    "Pick up the cylindrical bottle with narrow neck and shake it.",
+    "Shake the cylindrical bottle with narrow neck after grabbing it.",
+    "Use the right arm to grab the cylindrical bottle with narrow neck and shake properly.",
+    "Grasp the white-capped brown cylindrical bottle with the right arm and shake it.",
+    "Grab the medium plastic bottle and shake it steadily.",
+    "Utilize the right arm to hold the handheld brown bottle with white lid and shake it.",
+    "Hold the smooth brown bottle steady, then shake it.",
+    "Grab and shake the bottle with dark brown color using the right arm.",
+    "Use the right arm to grab the medium plastic bottle and shake it.",
+    "Grab the smooth brown bottle and give it a shake.",
+    "Lift up the medium plastic bottle using the right arm, then shake.",
+    "Shake the white-capped brown cylindrical bottle after lifting it.",
+    "Use the right arm to hold the smooth brown bottle and shake it.",
+    "Hold the handheld brown bottle with white lid, shake it briefly.",
+    "Grab the bottle with white cap firmly, shake it, and put it down.",
+    "Use the right arm to lift and shake the bottle with white cap.",
+    "Grip the smooth brown bottle using the right arm and shake.",
+    "Use the right arm to lift and shake the medium plastic bottle.",
+    "Secure the white-capped brown cylindrical bottle, shake it, and place it down.",
+    "Secure the medium plastic bottle and perform a shake.",
+    "Shake the handheld brown bottle with white lid after holding it firmly.",
+    "Pick the rounded bottle with printed details up with the right arm and shake.",
+    "Shake the medium bottle with smooth texture after grabbing it.",
+    "Hold the plastic bottle for liquids with the right arm and shake lightly.",
+    "Take the smooth brown bottle using the right arm and give it a shake.",
+    "Catch the smooth brown bottle and shake it instantly.",
+    "Lift the cylindrical bottle with narrow neck with the right arm and shake.",
+    "Lift the white-capped brown cylindrical bottle and shake it gently.",
+    "With the right arm, pick the bottle with white cap and shake properly.",
+    "Shake the smooth brown bottle after grabbing it.",
+    "Shake the bottle with dark brown color firmly after grabbing.",
+    "Lift the handheld brown bottle with white lid and shake it thoroughly.",
+    "Shake the the rounded bottle with printed details properly after lifting.",
+    "Pick the white-capped brown cylindrical bottle, shake it with the right arm.",
+    "Use the right arm to pick and shake the medium bottle with smooth texture.",
+    "Grab the bottle with dark brown color carefully and shake.",
+    "Grab the smooth brown bottle with the right arm and shake.",
+    "Grab the bottle with brown body and white top and move it to shake.",
+    "Use the right arm to lift and shake the bottle with brown body and white top.",
+    "Pick the bottle with brown body and white top and perform shaking motion.",
+    "Pick the white-capped brown cylindrical bottle up using the right arm and shake it.",
+    "Shake the white-capped brown cylindrical bottle thoroughly after grabbing it."
+  ],
+  "unseen": [
+    "Grab the lightweight plastic 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.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Pick and shake the the brown bottle 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.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "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.",
+    "Use the right arm to grab the brown cylindrical bottle with label and shake.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Use the right arm to pick the brown cylindrical bottle with label.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Use the right arm to grab the lightweight plastic brown bottle and shake.",
+    "Shake the lightweight plastic brown bottle after picking it with the right arm.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Pick and shake the the brown cylindrical bottle with label 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.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "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.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Use the right arm to pick the brown cylindrical bottle with label.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "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.",
+    "Use the right arm to grab the lightweight plastic brown bottle and shake.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Grab the brown bottle and shake it.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle with the right arm and shake.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Grab the brown bottle and shake it.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Use the right arm to grab the brown cylindrical bottle with label and shake.",
+    "Shake the lightweight plastic brown bottle after picking it with the right arm.",
+    "Grab the brown bottle and shake it.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Use the right arm to pick the brown bottle.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle with the right arm and shake.",
+    "Use the right arm to grab the lightweight plastic brown bottle and shake.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "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.",
+    "Use the right arm to grab the brown cylindrical bottle with label and shake.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Grab the brown bottle and shake it.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Use the right arm to pick the brown cylindrical bottle with label.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Grab the lightweight plastic 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.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Shake the lightweight plastic brown bottle after picking it with the right arm.",
+    "Grab the brown bottle and shake it.",
+    "Pick and shake the the brown cylindrical bottle with label 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.",
+    "Grab the brown bottle, shake it properly, then set it down."
+  ]
+}
\ No newline at end of file