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piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002162.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002198.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002267.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003112.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003126.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003166.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003369.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004108.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004278.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004337.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005296.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005316.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006024.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006068.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007105.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007125.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008065.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008068.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008154.json

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

piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008180.json

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