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piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001000.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001115.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001166.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001189.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001359.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002041.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002047.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002051.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002104.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003042.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003086.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003103.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003174.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003213.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003371.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004021.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004200.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004298.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004325.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004347.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005070.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005151.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005196.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005214.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005252.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005257.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006112.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006160.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006255.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006257.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006266.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007064.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007100.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007109.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007155.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007181.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007302.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007304.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008009.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008010.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008041.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008078.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008117.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008197.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008256.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008300.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008351.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008356.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008364.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008366.json

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