diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001008.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001008.json
new file mode 100644
index 0000000000000000000000000000000000000000..92a54e1b01b8a866ccfb67a9cecc05b4d7b01dd0
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001008.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the bottle with white cap and perform a shake.",
+    "Grab the plastic bottle for liquids and move it to shake.",
+    "Hold the smooth brown bottle with the right arm and shake lightly.",
+    "Take the bottle with brown body and white top using the right arm and give it a shake.",
+    "Shake the plastic bottle with printed label after lifting it.",
+    "Pick the medium bottle with smooth texture up with the right arm and shake.",
+    "Lift up the smooth brown bottle using the right arm, then shake.",
+    "Use the right arm to grab the medium bottle with smooth texture and shake it.",
+    "Shake the plastic bottle with printed label after grabbing it.",
+    "Use the right arm to pick and shake the plastic bottle with printed label.",
+    "Lift the bottle with white cap with the right arm and shake.",
+    "Shake the bottle with white cap firmly after grabbing.",
+    "Pick the medium plastic bottle up using the right arm and shake it.",
+    "Shake the medium plastic bottle after holding it firmly.",
+    "Grab the plastic bottle for liquids carefully and shake.",
+    "Secure the handheld brown bottle with white lid, shake it, and place it down.",
+    "Grab the handheld brown bottle with white lid with the right arm and shake.",
+    "Pick up the handheld brown bottle with white lid and shake it.",
+    "Pick the cylindrical bottle with narrow neck, shake it with the right arm.",
+    "Grab the smooth brown bottle using the right arm, then shake.",
+    "Pick the rounded bottle with printed details and perform shaking motion.",
+    "Shake the white-capped brown cylindrical bottle using the right arm after grabbing.",
+    "Grab the smooth brown bottle firmly, shake it, and put it down.",
+    "Hold and shake the the medium bottle with smooth texture carefully.",
+    "Grab and shake the smooth brown bottle using the right arm.",
+    "Using the right arm, shake the bottle with white cap and then place it back.",
+    "Grab the bottle with dark brown color and shake it steadily.",
+    "Hold the cylindrical bottle with narrow neck and shake it properly.",
+    "Shake the the bottle with white cap properly after lifting.",
+    "Catch the medium plastic bottle and shake it instantly.",
+    "Hold the plastic bottle for liquids steady, then shake it.",
+    "Shake the rounded bottle with printed details after grabbing it.",
+    "Utilize the right arm to hold the handheld brown bottle with white lid and shake it.",
+    "Hold the plastic bottle with printed label, shake it briefly.",
+    "With the right arm, pick the handheld brown bottle with white lid and shake properly.",
+    "Grip the smooth brown bottle using the right arm and shake.",
+    "Use the right arm to lift and shake the white-capped brown cylindrical bottle.",
+    "Lift the medium plastic bottle with the right arm and shake it.",
+    "Lift the smooth brown bottle and shake it gently.",
+    "Lift the white-capped brown cylindrical bottle and shake it thoroughly.",
+    "Use the right arm to lift and shake the bottle with white cap.",
+    "Grab the handheld brown bottle with white lid and give it a shake.",
+    "Shake the white-capped brown cylindrical bottle thoroughly after grabbing it.",
+    "Lift the cylindrical bottle with narrow neck with the right arm and give it a shake.",
+    "Grasp the handheld brown bottle with white lid with the right arm and shake it.",
+    "Pick up the rounded bottle with printed details and shake it well.",
+    "Use the right arm to grab the smooth brown bottle and shake properly.",
+    "Use the right arm to hold the bottle with dark brown color and shake it.",
+    "Use the right arm to lift and shake the medium plastic bottle.",
+    "Shake the medium plastic bottle after grabbing it.",
+    "Secure the cylindrical bottle with narrow neck and perform a shake.",
+    "Grab the medium bottle with smooth texture and move it to shake.",
+    "Hold the cylindrical bottle with narrow neck with the right arm and shake lightly.",
+    "Take the cylindrical bottle with narrow neck using the right arm and give it a shake.",
+    "Shake the bottle with brown body and white top after lifting it.",
+    "Pick the cylindrical bottle with narrow neck up with the right arm and shake.",
+    "Lift up the bottle with white cap using the right arm, then shake.",
+    "Use the right arm to grab the cylindrical bottle with narrow neck and shake it.",
+    "Shake the bottle with brown body and white top after grabbing it.",
+    "Use the right arm to pick and shake the medium bottle with smooth texture.",
+    "Lift the cylindrical bottle with narrow neck with the right arm and shake.",
+    "Shake the medium plastic bottle firmly after grabbing.",
+    "Pick the plastic bottle with printed label up using the right arm and shake it.",
+    "Shake the smooth brown bottle after holding it firmly.",
+    "Grab the rounded bottle with printed details carefully and shake.",
+    "Secure the rounded bottle with printed details, shake it, and place it down.",
+    "Grab the smooth brown bottle with the right arm and shake.",
+    "Pick up the smooth brown bottle and shake it.",
+    "Pick the bottle with brown body and white top, shake it with the right arm.",
+    "Grab the bottle with brown body and white top using the right arm, then shake.",
+    "Pick the bottle with brown body and white top and perform shaking motion.",
+    "Shake the bottle with white cap using the right arm after grabbing.",
+    "Grab the rounded bottle with printed details firmly, shake it, and put it down.",
+    "Hold and shake the the white-capped brown cylindrical bottle carefully.",
+    "Grab and shake the handheld brown bottle with white lid using the right arm.",
+    "Using the right arm, shake the plastic bottle with printed label and then place it back.",
+    "Grab the rounded bottle with printed details and shake it steadily.",
+    "Hold the bottle with dark brown color and shake it properly.",
+    "Shake the the handheld brown bottle with white lid properly after lifting.",
+    "Catch the bottle with brown body and white top and shake it instantly.",
+    "Hold the white-capped brown cylindrical bottle steady, then shake it.",
+    "Shake the plastic bottle with printed label after grabbing it.",
+    "Utilize the right arm to hold the bottle with dark brown color and shake it.",
+    "Hold the bottle with brown body and white top, shake it briefly.",
+    "With the right arm, pick the plastic bottle for liquids and shake properly.",
+    "Grip the rounded bottle with printed details using the right arm and shake.",
+    "Use the right arm to lift and shake the plastic bottle with printed label.",
+    "Lift the smooth brown bottle with the right arm and shake it.",
+    "Lift the bottle with dark brown color and shake it gently.",
+    "Lift the medium plastic bottle and shake it thoroughly.",
+    "Use the right arm to lift and shake the plastic bottle for liquids.",
+    "Grab the medium plastic bottle and give it a shake.",
+    "Shake the medium bottle with smooth texture thoroughly after grabbing it.",
+    "Lift the cylindrical bottle with narrow neck with the right arm and give it a shake.",
+    "Grasp the white-capped brown cylindrical bottle with the right arm and shake it.",
+    "Pick up the white-capped brown cylindrical bottle and shake it well.",
+    "Use the right arm to grab the bottle with dark brown color and shake properly.",
+    "Use the right arm to hold the plastic bottle for liquids and shake it.",
+    "Use the right arm to lift and shake the white-capped brown cylindrical bottle.",
+    "Shake the medium bottle with smooth texture after grabbing it."
+  ],
+  "unseen": [
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the brown bottle and shake it.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Use the right arm to grab the brown cylindrical bottle with label and shake.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Use the right arm to pick the brown bottle.",
+    "Use the right arm to grab the lightweight plastic brown bottle and shake.",
+    "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.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle with the right arm and shake.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Use the right arm to pick the brown bottle.",
+    "Use the right arm to grab the lightweight plastic brown bottle and shake.",
+    "Grab the brown bottle and give it a shake.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Use the right arm to pick the brown cylindrical bottle with label.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Shake the lightweight plastic brown bottle after picking it with the right arm.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Use the right arm to pick the brown bottle.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Grab the brown bottle and give it a shake.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Use the right arm to grab the brown cylindrical bottle with label and shake.",
+    "Grab the brown bottle and give it a shake.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the brown bottle and shake it.",
+    "Use the right arm to pick the brown bottle.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Use the right arm to pick the brown bottle.",
+    "Use the right arm to grab the lightweight plastic brown bottle and shake.",
+    "Grab the brown bottle and give it a shake.",
+    "Shake the lightweight plastic brown bottle after picking it with the right arm.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Use the right arm to pick the brown cylindrical bottle with label.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle with the right arm and shake.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Grab the brown bottle and shake it.",
+    "Use the right arm to pick the brown cylindrical bottle with label.",
+    "Use the right arm to grab the brown cylindrical bottle with label and shake.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick up the lightweight plastic brown bottle with the right arm and shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001033.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001033.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a74f210f272c3bf6bf47a5c3e514bc596490611
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001033.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the handheld green bottle using the right arm after grabbing.",
+    "Secure the plastic bottle and perform a shake.",
+    "Use the right arm to lift and shake the bottle with white printed label.",
+    "Shake the medium green bottle thoroughly after grabbing it.",
+    "Use the right arm to lift and shake the smooth green bottle.",
+    "Shake the medium green bottle with capped neck after grabbing it.",
+    "Grab the green bottle with indented base with the right arm and shake.",
+    "Lift the bottle with narrow top with the right arm and give it a shake.",
+    "Grab the bottle with white printed label firmly, shake it, and put it down.",
+    "Shake the medium green bottle with capped neck firmly after grabbing.",
+    "Use the right arm to lift and shake the bottle with white printed label.",
+    "Use the right arm to grab the medium-sized green bottle and shake properly.",
+    "Pick the medium-sized green bottle up with the right arm and shake.",
+    "Grab the medium green bottle with capped neck and give it a shake.",
+    "Lift the bottle with ridges near base with the right arm and shake it.",
+    "Secure the smooth green plastic bottle, shake it, and place it down.",
+    "Grip the medium green bottle with capped neck using the right arm and shake.",
+    "Hold and shake the the bottle with white printed label carefully.",
+    "Grasp the bottle with white printed label with the right arm and shake it.",
+    "Hold the bottle with rounded neck, shake it briefly.",
+    "Use the right arm to grab the plastic bottle and shake it.",
+    "Use the right arm to pick and shake the medium-sized green bottle.",
+    "Take the bottle with rounded neck using the right arm and give it a shake.",
+    "Shake the plastic bottle after grabbing it.",
+    "Lift up the medium green bottle using the right arm, then shake.",
+    "Use the right arm to hold the smooth green bottle and shake it.",
+    "Grab the green bottle with indented base and move it to shake.",
+    "Hold the plastic bottle and shake it properly.",
+    "Shake the bottle with rounded neck after lifting it.",
+    "Grab the medium green bottle and shake it steadily.",
+    "Lift the smooth green bottle and shake it thoroughly.",
+    "Pick up the bottle with ridges near base and shake it well.",
+    "Hold the bottle with rounded neck steady, then shake it.",
+    "Lift the bottle with narrow top and shake it gently.",
+    "Pick the plastic bottle up using the right arm and shake it.",
+    "Pick the bottle with white printed label and perform shaking motion.",
+    "Hold the bottle with rounded neck with the right arm and shake lightly.",
+    "Catch the smooth green bottle and shake it instantly.",
+    "Grab and shake the medium-sized green bottle using the right arm.",
+    "Using the right arm, shake the medium green bottle with capped neck and then place it back.",
+    "Shake the the bottle with ridges near base properly after lifting.",
+    "Pick up the bottle with narrow top and shake it.",
+    "Shake the bottle with narrow top after grabbing it.",
+    "Grab the smooth green plastic bottle using the right arm, then shake.",
+    "Shake the smooth green plastic bottle after holding it firmly.",
+    "With the right arm, pick the plastic bottle and shake properly.",
+    "Pick the medium-sized green bottle, shake it with the right arm.",
+    "Utilize the right arm to hold the smooth green plastic bottle and shake it.",
+    "Lift the medium green bottle with capped neck with the right arm and shake.",
+    "Grab the medium-sized green bottle carefully and shake.",
+    "Shake the green bottle with indented base using the right arm after grabbing.",
+    "Secure the green bottle with indented base and perform a shake.",
+    "Use the right arm to lift and shake the green bottle with indented base.",
+    "Shake the bottle with ridges near base thoroughly after grabbing it.",
+    "Use the right arm to lift and shake the bottle with ridges near base.",
+    "Shake the bottle with white printed label after grabbing it.",
+    "Grab the bottle with ridges near base with the right arm and shake.",
+    "Lift the bottle with narrow top with the right arm and give it a shake.",
+    "Grab the bottle with narrow top firmly, shake it, and put it down.",
+    "Shake the green bottle with indented base firmly after grabbing.",
+    "Use the right arm to lift and shake the bottle with ridges near base.",
+    "Use the right arm to grab the green bottle with indented base and shake properly.",
+    "Pick the smooth green plastic bottle up with the right arm and shake.",
+    "Grab the handheld green bottle and give it a shake.",
+    "Lift the medium green bottle with the right arm and shake it.",
+    "Secure the smooth green plastic bottle, shake it, and place it down.",
+    "Grip the smooth green plastic bottle using the right arm and shake.",
+    "Hold and shake the the bottle with ridges near base carefully.",
+    "Grasp the medium-sized green bottle with the right arm and shake it.",
+    "Hold the medium-sized green bottle, shake it briefly.",
+    "Use the right arm to grab the medium green bottle and shake it.",
+    "Use the right arm to pick and shake the bottle with white printed label.",
+    "Take the handheld green bottle using the right arm and give it a shake.",
+    "Shake the bottle with rounded neck after grabbing it.",
+    "Lift up the bottle with white printed label using the right arm, then shake.",
+    "Use the right arm to hold the plastic bottle and shake it.",
+    "Grab the bottle with ridges near base and move it to shake.",
+    "Hold the bottle with white printed label and shake it properly.",
+    "Shake the smooth green plastic bottle after lifting it.",
+    "Grab the bottle with narrow top and shake it steadily.",
+    "Lift the medium-sized green bottle and shake it thoroughly.",
+    "Pick up the bottle with ridges near base and shake it well.",
+    "Hold the medium-sized green bottle steady, then shake it.",
+    "Lift the bottle with ridges near base and shake it gently.",
+    "Pick the smooth green plastic bottle up using the right arm and shake it.",
+    "Pick the medium green bottle and perform shaking motion.",
+    "Hold the bottle with narrow top with the right arm and shake lightly.",
+    "Catch the bottle with ridges near base and shake it instantly.",
+    "Grab and shake the bottle with narrow top using the right arm.",
+    "Using the right arm, shake the bottle with ridges near base and then place it back.",
+    "Shake the the smooth green bottle properly after lifting.",
+    "Pick up the handheld green bottle and shake it.",
+    "Shake the medium green bottle with capped neck after grabbing it.",
+    "Grab the smooth green plastic bottle using the right arm, then shake.",
+    "Shake the green bottle with indented base after holding it firmly.",
+    "With the right arm, pick the bottle with ridges near base and shake properly.",
+    "Pick the medium green bottle with capped neck, shake it with the right arm.",
+    "Utilize the right arm to hold the medium green bottle with capped neck and shake it.",
+    "Lift the bottle with white printed label with the right arm and shake.",
+    "Grab the bottle with rounded neck carefully and shake."
+  ],
+  "unseen": [
+    "Pick up the green bottle with white label and shake it.",
+    "Shake the green bottle with white label after picking it with the right arm.",
+    "Use the right arm to pick the green bottle with white label.",
+    "Grab the green bottle with white label, shake it properly, then set it down.",
+    "Pick up the green bottle with white label with the right arm and shake.",
+    "Pick up the green bottle and shake it.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Use the right arm to grab the green bottle and shake.",
+    "Grab the green bottle and shake it.",
+    "Pick and shake the the green bottle with the right arm.",
+    "Pick up the green bottle and shake it.",
+    "Shake the green bottle with white label after picking it with the right arm.",
+    "Use the right arm to pick the green bottle with white label.",
+    "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick up the green plastic bottle with ridged bottom with the right arm and shake.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Grab the green bottle and shake it.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the right arm.",
+    "Pick up the green bottle with white label and shake it.",
+    "Shake the green bottle after picking it with the right arm.",
+    "Use the right arm to pick the green bottle.",
+    "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick up the green plastic bottle with ridged bottom with the right arm and shake.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Grab the green bottle and shake it.",
+    "Pick and shake the the green bottle with the right arm.",
+    "Pick up the green bottle with white label and shake it.",
+    "Shake the green bottle after picking it with the right arm.",
+    "Use the right arm to pick the green bottle.",
+    "Grab the green bottle with white label, shake it properly, then set it down.",
+    "Pick up the green plastic bottle with ridged bottom with the right arm and shake.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Use the right arm to grab the green bottle with white label and shake.",
+    "Grab the green bottle and shake it.",
+    "Pick and shake the the green bottle with white label with the right arm.",
+    "Pick up the green bottle and shake it.",
+    "Shake the green bottle after picking it with the right arm.",
+    "Use the right arm to pick the green plastic bottle with ridged bottom.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Pick up the green bottle with white label with the right arm and shake.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the right arm.",
+    "Pick up the green bottle and shake it.",
+    "Shake the green bottle with white label after picking it with the right arm.",
+    "Use the right arm to pick the green plastic bottle with ridged bottom.",
+    "Grab the green bottle with white label, shake it properly, then set it down.",
+    "Pick up the green bottle with the right arm and shake.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Use the right arm to grab the green bottle and shake.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the right arm.",
+    "Pick up the green bottle with white label and shake it.",
+    "Shake the green plastic bottle with ridged bottom after picking it with the right arm.",
+    "Use the right arm to pick the green bottle.",
+    "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick up the green plastic bottle with ridged bottom with the right arm and shake.",
+    "Pick up the green bottle and shake it.",
+    "Grab the green bottle and give it a shake.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Grab the green bottle with white label and shake it.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the right arm.",
+    "Pick up the green bottle with white label and shake it.",
+    "Shake the green bottle after picking it with the right arm.",
+    "Use the right arm to pick the green bottle with white label.",
+    "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick up the green bottle with white label with the right arm and shake.",
+    "Pick up the green bottle with white label and shake it.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "Use the right arm to grab the green bottle and shake.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the right arm.",
+    "Pick up the green bottle with white label and shake it.",
+    "Shake the green plastic bottle with ridged bottom after picking it with the right arm.",
+    "Use the right arm to pick the green bottle with white label.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Pick up the green plastic bottle with ridged bottom with the right arm and shake.",
+    "Pick up the green bottle and shake it.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Use the right arm to grab the green bottle and shake.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Pick and shake the the green bottle with white label with the right arm.",
+    "Pick up the green bottle with white label and shake it.",
+    "Shake the green bottle after picking it with the right arm.",
+    "Use the right arm to pick the green plastic bottle with ridged bottom.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Pick up the green bottle with the right arm and shake.",
+    "Pick up the green bottle and shake it.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Grab the green bottle and shake it.",
+    "Pick and shake the the green bottle with the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001037.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001037.json
new file mode 100644
index 0000000000000000000000000000000000000000..6773ca7195d30e06ab36ee5468a65c2468045bbd
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001037.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the handheld green bottle firmly, shake it, and put it down.",
+    "Grab the medium green bottle with capped neck and give it a shake.",
+    "Lift the bottle with white printed label with the left arm and shake it.",
+    "Shake the the plastic bottle properly after lifting.",
+    "With the left arm, pick the smooth green plastic bottle and shake properly.",
+    "Shake the handheld green bottle after lifting it.",
+    "Use the left arm to grab the medium green bottle 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.",
+    "Use the left arm to lift and shake the smooth green plastic bottle.",
+    "Lift the smooth green plastic bottle and shake it gently.",
+    "Take the bottle with ridges near base using the left arm and give it a shake.",
+    "Grab the green bottle with indented base with the left arm and shake.",
+    "Hold the green bottle with indented base, shake it briefly.",
+    "Shake the medium green bottle with capped neck after holding it firmly.",
+    "Shake the plastic bottle after grabbing it.",
+    "Use the left arm to lift and shake the medium-sized green bottle.",
+    "Lift the medium-sized green bottle with the left arm and shake.",
+    "Shake the handheld green bottle firmly after grabbing.",
+    "Use the left arm to grab the bottle with narrow top and shake properly.",
+    "Shake the green bottle with indented base thoroughly after grabbing it.",
+    "Using the left arm, shake the medium-sized green bottle and then place it back.",
+    "Grab the medium green bottle with capped neck and move it to shake.",
+    "Lift up the smooth green plastic bottle using the left arm, then shake.",
+    "Secure the bottle with white printed label and perform a shake.",
+    "Use the left arm to lift and shake the green bottle with indented base.",
+    "Pick the handheld green bottle up with the left arm and shake.",
+    "Hold and shake the the medium green bottle carefully.",
+    "Grip the medium-sized green bottle using the left arm and shake.",
+    "Hold the plastic bottle steady, then shake it.",
+    "Grab and shake the bottle with white printed label using the left arm.",
+    "Pick up the bottle with rounded neck and shake it.",
+    "Shake the green bottle with indented base after grabbing it.",
+    "Pick the medium green bottle with capped neck, shake it with the left arm.",
+    "Catch the medium green bottle with capped neck and shake it instantly.",
+    "Pick up the bottle with white printed label and shake it well.",
+    "Hold the smooth green bottle and shake it properly.",
+    "Pick the smooth green plastic bottle up using the left arm and shake it.",
+    "Use the left arm to pick and shake the green bottle with indented base.",
+    "Secure the green bottle with indented base, shake it, and place it down.",
+    "Hold the bottle with rounded neck with the left arm and shake lightly.",
+    "Grab the bottle with narrow top using the left arm, then shake.",
+    "Grasp the smooth green bottle with the left arm and shake it.",
+    "Lift the smooth green plastic bottle and shake it thoroughly.",
+    "Shake the bottle with rounded neck using the left arm after grabbing.",
+    "Grab the smooth green plastic bottle carefully and shake.",
+    "Lift the medium green bottle with capped neck with the left arm and give it a shake.",
+    "Grab the bottle with ridges near base and shake it steadily.",
+    "Utilize the left arm to hold the plastic bottle and shake it.",
+    "Shake the bottle with white printed label after grabbing it.",
+    "Grab the medium green bottle with capped neck firmly, shake it, and put it down.",
+    "Grab the medium green bottle and give it a shake.",
+    "Lift the plastic bottle with the left arm and shake it.",
+    "Shake the the smooth green bottle properly after lifting.",
+    "With the left arm, pick the medium-sized green bottle and shake properly.",
+    "Shake the bottle with rounded neck after lifting it.",
+    "Use the left arm to grab the medium green bottle and shake it.",
+    "Pick the bottle with white printed label and perform shaking motion.",
+    "Use the left arm to hold the bottle with narrow top and shake it.",
+    "Use the left arm to lift and shake the bottle with ridges near base.",
+    "Lift the bottle with narrow top and shake it gently.",
+    "Take the handheld green bottle using the left arm and give it a shake.",
+    "Grab the bottle with white printed label with the left arm and shake.",
+    "Hold the medium green bottle, shake it briefly.",
+    "Shake the smooth green bottle after holding it firmly.",
+    "Shake the smooth green bottle after grabbing it.",
+    "Use the left arm to lift and shake the bottle with narrow top.",
+    "Lift the bottle with ridges near base with the left arm and shake.",
+    "Shake the bottle with narrow top firmly after grabbing.",
+    "Use the left arm to grab the smooth green bottle and shake properly.",
+    "Shake the medium-sized green bottle thoroughly after grabbing it.",
+    "Using the left arm, shake the smooth green bottle and then place it back.",
+    "Grab the medium green bottle with capped neck and move it to shake.",
+    "Lift up the smooth green plastic bottle using the left arm, then shake.",
+    "Secure the bottle with white printed label and perform a shake.",
+    "Use the left arm to lift and shake the medium green bottle.",
+    "Pick the bottle with narrow top up with the left arm and shake.",
+    "Hold and shake the the smooth green plastic bottle carefully.",
+    "Grip the medium-sized green bottle using the left arm and shake.",
+    "Hold the green bottle with indented base steady, then shake it.",
+    "Grab and shake the handheld green bottle using the left arm.",
+    "Pick up the bottle with narrow top and shake it.",
+    "Shake the plastic bottle after grabbing it.",
+    "Pick the green bottle with indented base, shake it with the left arm.",
+    "Catch the smooth green plastic bottle and shake it instantly.",
+    "Pick up the medium green bottle with capped neck and shake it well.",
+    "Hold the smooth green plastic bottle and shake it properly.",
+    "Pick the smooth green plastic bottle up using the left arm and shake it.",
+    "Use the left arm to pick and shake the bottle with rounded neck.",
+    "Secure the smooth green bottle, shake it, and place it down.",
+    "Hold the smooth green bottle with the left arm and shake lightly.",
+    "Grab the plastic bottle using the left arm, then shake.",
+    "Grasp the plastic bottle with the left arm and shake it.",
+    "Lift the plastic bottle and shake it thoroughly.",
+    "Shake the green bottle with indented base using the left arm after grabbing.",
+    "Grab the smooth green bottle carefully and shake.",
+    "Lift the smooth green plastic bottle with the left arm and give it a shake.",
+    "Grab the plastic bottle and shake it steadily.",
+    "Utilize the left arm to hold the medium-sized green bottle and shake it.",
+    "Shake the bottle with narrow top after grabbing it."
+  ],
+  "unseen": [
+    "Use the left arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Pick up the green bottle and shake it.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Grab the green bottle, 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.",
+    "Pick up the green plastic bottle with ridged bottom with the left arm and shake.",
+    "Pick and shake the the green bottle with white label with the left arm.",
+    "Use the left arm to pick the green bottle.",
+    "Shake the green bottle after picking it with the left arm.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Pick up the green bottle and shake it.",
+    "Grab the green bottle and give it a shake.",
+    "Grab the green plastic bottle with ridged bottom, 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.",
+    "Pick up the green plastic bottle with ridged bottom with the left arm and shake.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the left arm.",
+    "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.",
+    "Use the left arm to grab the green bottle and shake.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "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 with white label and shake it.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Pick up the green bottle with the left arm and shake.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the left arm.",
+    "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.",
+    "Use the left arm to grab the green bottle with white label and shake.",
+    "Pick up the green bottle with white label and shake it.",
+    "Grab the green 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 bottle with white label and shake it.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Pick up the green plastic bottle with ridged bottom with the left arm and shake.",
+    "Pick and shake the the green bottle with white label with the left arm.",
+    "Use the left arm to pick the green bottle.",
+    "Shake the green plastic bottle with ridged bottom after picking it with the left arm.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green plastic bottle with ridged bottom 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.",
+    "Pick up the green plastic bottle with ridged bottom with the left arm and shake.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the left arm.",
+    "Use the left arm to pick the green bottle.",
+    "Shake the green bottle with white label after picking it with the left arm.",
+    "Use the left arm to grab the green bottle with white label and shake.",
+    "Pick up the green bottle and shake it.",
+    "Grab the green bottle and give it a shake.",
+    "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Grab the green bottle with white label and shake it.",
+    "Pick up the green bottle with white label and shake it.",
+    "Pick up the green bottle with white label with the left arm and shake.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the left arm.",
+    "Use the left arm to pick the green plastic bottle with ridged bottom.",
+    "Shake the green plastic bottle with ridged bottom after picking it with the left arm.",
+    "Use the left arm to grab the green bottle and shake.",
+    "Pick up the green bottle with white label and shake it.",
+    "Grab the green 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 bottle with white label and shake it.",
+    "Pick up the green bottle with the left arm and shake.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the left arm.",
+    "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.",
+    "Use the left arm to grab the green bottle with white label and shake.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green plastic bottle with ridged bottom and 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 bottle and shake it.",
+    "Pick up the green plastic bottle with ridged bottom with the left arm and shake.",
+    "Pick and shake the the green bottle with the left arm.",
+    "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.",
+    "Use the left arm to grab the green bottle and shake.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "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 with white label and shake it.",
+    "Pick up the green bottle and shake it.",
+    "Pick up the green plastic bottle with ridged bottom with the left arm and shake.",
+    "Pick and shake the the green bottle with white label with the left arm.",
+    "Use the left arm to pick the green bottle.",
+    "Shake the green bottle after picking it with the left arm.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Pick up the green bottle and shake it.",
+    "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 bottle and shake it.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Pick up the green bottle with the left arm and shake.",
+    "Pick and shake the the green bottle with white label with the left arm.",
+    "Use the left arm to pick the green plastic bottle with ridged bottom.",
+    "Shake the green bottle with white label after picking it with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001042.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001042.json
new file mode 100644
index 0000000000000000000000000000000000000000..989f571ce3a6c007e98d4ef8884b912fd8cd9e2a
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001042.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to hold the smooth brown bottle and shake it.",
+    "Lift the plastic bottle with printed label with the right arm and shake it.",
+    "Lift the plastic bottle with printed label and shake it thoroughly.",
+    "Utilize the right arm to hold the plastic bottle for liquids and shake it.",
+    "Use the right arm to lift and shake the handheld brown bottle with white lid.",
+    "Shake the the rounded bottle with printed details properly after lifting.",
+    "Hold the bottle with brown body and white top steady, then shake it.",
+    "Shake the cylindrical bottle with narrow neck after grabbing it.",
+    "Lift up the handheld brown bottle with white lid using the right arm, then shake.",
+    "Hold the cylindrical bottle with narrow neck with the right arm and shake lightly.",
+    "Shake the medium plastic bottle thoroughly after grabbing it.",
+    "Grab the rounded bottle with printed details using the right arm, then shake.",
+    "Hold the plastic bottle for liquids, shake it briefly.",
+    "Pick the medium plastic bottle up using the right arm and shake it.",
+    "Pick the plastic bottle with printed label, shake it with the right arm.",
+    "Shake the rounded bottle with printed details after holding it firmly.",
+    "Use the right arm to grab the medium bottle with smooth texture and shake it.",
+    "Use the right arm to grab the cylindrical bottle with narrow neck and shake properly.",
+    "Shake the bottle with white cap after lifting it.",
+    "Use the right arm to pick and shake the bottle with brown body and white top.",
+    "Grab the handheld brown bottle with white lid and move it to shake.",
+    "Secure the medium bottle with smooth texture, shake it, and place it down.",
+    "Shake the rounded bottle with printed details firmly after grabbing.",
+    "Pick the bottle with white cap and perform shaking motion.",
+    "Grab the rounded bottle with printed details and shake it steadily.",
+    "Lift the plastic bottle for liquids with the right arm and give it a shake.",
+    "Lift the bottle with brown body and white top and shake it gently.",
+    "Grab the bottle with dark brown color with the right arm and shake.",
+    "Hold the plastic bottle with printed label and shake it properly.",
+    "Grab the plastic bottle with printed label firmly, shake it, and put it down.",
+    "Shake the plastic bottle for liquids after grabbing it.",
+    "Use the right arm to lift and shake the bottle with brown body and white top.",
+    "Grab the medium bottle with smooth texture carefully and shake.",
+    "Hold and shake the the medium plastic bottle carefully.",
+    "Using the right arm, shake the white-capped brown cylindrical bottle and then place it back.",
+    "Grab and shake the rounded bottle with printed details using the right arm.",
+    "With the right arm, pick the medium bottle with smooth texture and shake properly.",
+    "Grip the bottle with white cap using the right arm and shake.",
+    "Grasp the smooth brown bottle with the right arm and shake it.",
+    "Take the cylindrical bottle with narrow neck using the right arm and give it a shake.",
+    "Shake the medium plastic bottle using the right arm after grabbing.",
+    "Grab the rounded bottle with printed details and give it a shake.",
+    "Catch the bottle with white cap and shake it instantly.",
+    "Pick up the bottle with dark brown color and shake it well.",
+    "Lift the plastic bottle with printed label with the right arm and shake.",
+    "Secure the bottle with white cap and perform a shake.",
+    "Use the right arm to lift and shake the handheld brown bottle with white lid.",
+    "Pick the handheld brown bottle with white lid up with the right arm and shake.",
+    "Pick up the smooth brown bottle and shake it.",
+    "Shake the smooth brown bottle after grabbing it.",
+    "Use the right arm to hold the rounded bottle with printed details and shake it.",
+    "Lift the rounded bottle with printed details with the right arm and shake it.",
+    "Lift the medium bottle with smooth texture and shake it thoroughly.",
+    "Utilize the right arm to hold the bottle with dark brown color and shake it.",
+    "Use the right arm to lift and shake the medium plastic bottle.",
+    "Shake the the plastic bottle with printed label properly after lifting.",
+    "Hold the bottle with white cap steady, then shake it.",
+    "Shake the white-capped brown cylindrical bottle after grabbing it.",
+    "Lift up the smooth brown bottle using the right arm, then shake.",
+    "Hold the medium plastic bottle with the right arm and shake lightly.",
+    "Shake the smooth brown bottle thoroughly after grabbing it.",
+    "Grab the smooth brown bottle using the right arm, then shake.",
+    "Hold the plastic bottle with printed label, shake it briefly.",
+    "Pick the bottle with dark brown color up using the right arm and shake it.",
+    "Pick the bottle with brown body and white top, shake it with the right arm.",
+    "Shake the medium bottle with smooth texture after holding it firmly.",
+    "Use the right arm to grab the medium bottle with smooth texture and shake it.",
+    "Use the right arm to grab the bottle with white cap and shake properly.",
+    "Shake the bottle with brown body and white top after lifting it.",
+    "Use the right arm to pick and shake the rounded bottle with printed details.",
+    "Grab the medium plastic bottle and move it to shake.",
+    "Secure the smooth brown bottle, shake it, and place it down.",
+    "Shake the smooth brown bottle firmly after grabbing.",
+    "Pick the plastic bottle with printed label and perform shaking motion.",
+    "Grab the medium plastic bottle and shake it steadily.",
+    "Lift the medium bottle with smooth texture with the right arm and give it a shake.",
+    "Lift the rounded bottle with printed details and shake it gently.",
+    "Grab the bottle with dark brown color with the right arm and shake.",
+    "Hold the bottle with dark brown color and shake it properly.",
+    "Grab the handheld brown bottle with white lid firmly, shake it, and put it down.",
+    "Shake the white-capped brown cylindrical bottle after grabbing it.",
+    "Use the right arm to lift and shake the handheld brown bottle with white lid.",
+    "Grab the cylindrical bottle with narrow neck carefully and shake.",
+    "Hold and shake the the rounded bottle with printed details carefully.",
+    "Using the right arm, shake the bottle with white cap and then place it back.",
+    "Grab and shake the medium plastic bottle using the right arm.",
+    "With the right arm, pick the cylindrical bottle with narrow neck and shake properly.",
+    "Grip the bottle with white cap using the right arm and shake.",
+    "Grasp the white-capped brown cylindrical bottle with the right arm and shake it.",
+    "Take the rounded bottle with printed details using the right arm and give it a shake.",
+    "Shake the plastic bottle with printed label using the right arm after grabbing.",
+    "Grab the handheld brown bottle with white lid and give it a shake.",
+    "Catch the medium bottle with smooth texture and shake it instantly.",
+    "Pick up the plastic bottle with printed label and shake it well.",
+    "Lift the rounded bottle with printed details with the right arm and shake.",
+    "Secure the bottle with dark brown color and perform a shake.",
+    "Use the right arm to lift and shake the plastic bottle with printed label.",
+    "Pick the cylindrical bottle with narrow neck up with the right arm and shake.",
+    "Pick up the medium plastic bottle and shake it.",
+    "Shake the bottle with white cap after grabbing it."
+  ],
+  "unseen": [
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Grab the brown bottle and give it a shake.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Use the right arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick up the lightweight plastic brown bottle with the right arm and shake.",
+    "Use the right arm to pick the brown bottle.",
+    "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.",
+    "Grab the brown bottle and shake it.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Pick up the lightweight plastic brown bottle with the right arm and shake.",
+    "Use the right arm to pick the brown bottle.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Grab the brown bottle and shake it.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the brown bottle and give it a shake.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Shake the lightweight plastic brown bottle after picking it with the right arm.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Use the right arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Use the right arm to pick the brown bottle.",
+    "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.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "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.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the brown bottle and give it a shake.",
+    "Use the right arm to grab the lightweight plastic brown bottle and shake.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Use the right arm to pick the brown cylindrical bottle with label.",
+    "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.",
+    "Grab the brown bottle and shake it.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the brown bottle and give it a shake.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "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.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Use the right arm to grab the lightweight plastic brown bottle and shake.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "Use the right arm to pick the brown bottle.",
+    "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.",
+    "Grab the brown bottle and shake it.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Use the right arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Shake the lightweight plastic brown bottle after picking it with the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001056.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001056.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ffc315628682d349afadc2f89977185518ff86d
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001056.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grasp the white bottle with the left arm and shake it.",
+    "Grab the smooth bottle and move it to shake.",
+    "Use the left arm to lift and shake the medium-sized bottle.",
+    "Utilize the left arm to hold the white bottle and shake it.",
+    "Shake the white bottle with red text firmly after grabbing.",
+    "Lift the white bottle with red text and shake it thoroughly.",
+    "Hold the white bottle for liquids and shake it properly.",
+    "Pick the bottle with orange screw cap, shake it with the left arm.",
+    "Lift the white bottle with red text with the left arm and shake.",
+    "Grab the white bottle for liquids carefully and shake.",
+    "Use the left arm to lift and shake the white bottle with red text.",
+    "Shake the plastic bottle after grabbing it.",
+    "Pick up the smooth bottle and shake it.",
+    "Grab the white bottle for liquids and shake it steadily.",
+    "Shake the the cylindrical bottle with red writing properly after lifting.",
+    "Using the left arm, shake the handheld white bottle with cap and then place it back.",
+    "Grab the white bottle with red text using the left arm, then shake.",
+    "Shake the plastic bottle thoroughly after grabbing it.",
+    "Grab the bottle with tapering neck firmly, shake it, and put it down.",
+    "Pick the white bottle with orange lid and perform shaking motion.",
+    "Pick the smooth bottle up with the left arm and shake.",
+    "Shake the white bottle with red text after lifting it.",
+    "Grab the white bottle with orange lid with the left arm and shake.",
+    "Pick the smooth bottle up using the left arm and shake it.",
+    "Use the left arm to pick and shake the plastic bottle.",
+    "Shake the cylindrical bottle with red writing using the left arm after grabbing.",
+    "Lift up the white bottle with red text using the left arm, then shake.",
+    "Secure the medium-sized bottle, shake it, and place it down.",
+    "Hold the plastic bottle, shake it briefly.",
+    "Use the left arm to lift and shake the smooth bottle.",
+    "Hold and shake the the bottle with orange screw cap carefully.",
+    "Grab and shake the medium-sized bottle using the left arm.",
+    "Hold the medium-sized bottle with the left arm and shake lightly.",
+    "Use the left arm to grab the handheld white bottle with cap and shake it.",
+    "Lift the white cylindrical bottle with the left arm and shake it.",
+    "Grip the cylindrical bottle with red writing using the left arm and shake.",
+    "Grab the medium-sized bottle and give it a shake.",
+    "Shake the white bottle after grabbing it.",
+    "Use the left arm to hold the white bottle for liquids and shake it.",
+    "Catch the plastic bottle and shake it instantly.",
+    "Shake the bottle with orange screw cap after holding it firmly.",
+    "Shake the plastic bottle after grabbing it.",
+    "With the left arm, pick the medium-sized bottle and shake properly.",
+    "Secure the bottle with tapering neck and perform a shake.",
+    "Use the left arm to grab the medium-sized bottle and shake properly.",
+    "Lift the white bottle for liquids with the left arm and give it a shake.",
+    "Lift the plastic bottle and shake it gently.",
+    "Pick up the medium-sized bottle and shake it well.",
+    "Hold the white bottle with red text steady, then shake it.",
+    "Take the medium-sized bottle using the left arm and give it a shake.",
+    "Grasp the white bottle with red text with the left arm and shake it.",
+    "Grab the smooth bottle and move it to shake.",
+    "Use the left arm to lift and shake the white bottle with red text.",
+    "Utilize the left arm to hold the bottle with orange screw cap and shake it.",
+    "Shake the white bottle with red text firmly after grabbing.",
+    "Lift the white cylindrical bottle and shake it thoroughly.",
+    "Hold the bottle with tapering neck and shake it properly.",
+    "Pick the bottle with orange screw cap, shake it with the left arm.",
+    "Lift the white bottle with the left arm and shake.",
+    "Grab the white bottle with red text carefully and shake.",
+    "Use the left arm to lift and shake the plastic bottle.",
+    "Shake the bottle with tapering neck after grabbing it.",
+    "Pick up the plastic bottle and shake it.",
+    "Grab the smooth bottle and shake it steadily.",
+    "Shake the the plastic bottle properly after lifting.",
+    "Using the left arm, shake the plastic bottle and then place it back.",
+    "Grab the handheld white bottle with cap using the left arm, then shake.",
+    "Shake the white cylindrical bottle thoroughly after grabbing it.",
+    "Grab the bottle with tapering neck firmly, shake it, and put it down.",
+    "Pick the smooth bottle and perform shaking motion.",
+    "Pick the plastic bottle up with the left arm and shake.",
+    "Shake the plastic bottle after lifting it.",
+    "Grab the cylindrical bottle with red writing with the left arm and shake.",
+    "Pick the bottle with orange screw cap up using the left arm and shake it.",
+    "Use the left arm to pick and shake the cylindrical bottle with red writing.",
+    "Shake the medium-sized bottle using the left arm after grabbing.",
+    "Lift up the white bottle for liquids using the left arm, then shake.",
+    "Secure the bottle with tapering neck, shake it, and place it down.",
+    "Hold the cylindrical bottle with red writing, shake it briefly.",
+    "Use the left arm to lift and shake the cylindrical bottle with red writing.",
+    "Hold and shake the the white bottle with red text carefully.",
+    "Grab and shake the smooth bottle using the left arm.",
+    "Hold the medium-sized bottle with the left arm and shake lightly.",
+    "Use the left arm to grab the medium-sized bottle and shake it.",
+    "Lift the bottle with orange screw cap with the left arm and shake it.",
+    "Grip the white bottle with red text using the left arm and shake.",
+    "Grab the handheld white bottle with cap and give it a shake.",
+    "Shake the medium-sized bottle after grabbing it.",
+    "Use the left arm to hold the bottle with tapering neck and shake it.",
+    "Catch the bottle with orange screw cap and shake it instantly.",
+    "Shake the white cylindrical bottle after holding it firmly.",
+    "Shake the white cylindrical bottle after grabbing it.",
+    "With the left arm, pick the smooth bottle and shake properly.",
+    "Secure the white bottle for liquids and perform a shake.",
+    "Use the left arm to grab the handheld white bottle with cap and shake properly.",
+    "Lift the bottle with tapering neck with the left arm and give it a shake.",
+    "Lift the handheld white bottle with cap and shake it gently.",
+    "Pick up the plastic bottle and shake it well.",
+    "Hold the bottle with orange screw cap steady, then shake it.",
+    "Take the cylindrical bottle with red writing using the left arm and give it a shake."
+  ],
+  "unseen": [
+    "Grab the plastic bottle with printed label, 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 give it a shake.",
+    "Pick up the bottle with glossy surface and shake it.",
+    "Use the left arm to pick the bottle with orange cap.",
+    "Use the left arm to grab the bottle with glossy surface and shake.",
+    "Shake the bottle with orange cap after picking it with the left arm.",
+    "Pick up the bottle with glossy surface and shake it.",
+    "Pick up the plastic bottle with printed label with the left arm and shake.",
+    "Grab 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 bottle with glossy surface with the left arm.",
+    "Grab the bottle with glossy surface and give it a shake.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Use the left arm to pick the bottle with glossy surface.",
+    "Use the left arm to grab the bottle with glossy surface and shake.",
+    "Shake the bottle with glossy surface after picking it with the left arm.",
+    "Pick up the plastic bottle with printed label and shake it.",
+    "Pick up the bottle with glossy surface with the left arm and shake.",
+    "Grab 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 orange cap with the left arm.",
+    "Grab the plastic bottle with printed label and give it a shake.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Use the left arm to pick the bottle with orange cap.",
+    "Use the left arm to grab the plastic bottle with printed label and shake.",
+    "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.",
+    "Pick up the bottle with glossy surface with the left arm and shake.",
+    "Grab 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 glossy surface with the left arm.",
+    "Grab the plastic bottle with printed label and give it a shake.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Use the left arm to pick the bottle with glossy surface.",
+    "Use the left arm to grab the plastic bottle with printed label and shake.",
+    "Shake the plastic bottle with printed label after picking it with the left arm.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Pick up the plastic bottle with printed label with the left arm and shake.",
+    "Grab 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 plastic bottle with printed label with the left arm.",
+    "Grab the bottle with glossy surface and give it a shake.",
+    "Pick up the bottle with glossy surface and shake it.",
+    "Use the left arm to pick the bottle with glossy surface.",
+    "Use the left arm to grab the bottle with orange cap and shake.",
+    "Shake the bottle with glossy surface after picking it with the left arm.",
+    "Pick up the plastic bottle with printed label and shake it.",
+    "Pick up the plastic bottle with printed label with the left arm and shake.",
+    "Grab 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 bottle with glossy surface with the left arm.",
+    "Grab the bottle with orange cap and give it a shake.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Use the left arm to pick the bottle with orange cap.",
+    "Use the left arm to grab the bottle with orange cap and shake.",
+    "Shake the bottle with glossy surface after picking it with the left arm.",
+    "Pick up the bottle with glossy surface and shake it.",
+    "Pick up the bottle with orange cap with the left arm and shake.",
+    "Grab the plastic bottle with printed label and shake it.",
+    "Grab the bottle with orange cap, shake it properly, then set it down.",
+    "Pick and shake the the bottle with glossy surface with the left arm.",
+    "Grab the bottle with glossy surface and give it a shake.",
+    "Pick up the plastic bottle with printed label and shake it.",
+    "Use the left arm to pick the bottle with orange cap.",
+    "Use the left arm to grab the plastic bottle with printed label and shake.",
+    "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.",
+    "Pick up the plastic bottle with printed label with the left arm and shake.",
+    "Grab 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 orange cap with the left arm.",
+    "Grab the plastic bottle with printed label and give it a shake.",
+    "Pick up the plastic bottle with printed label and shake it.",
+    "Use the left arm to pick the plastic bottle with printed label.",
+    "Use the left arm to grab the bottle with orange cap and shake.",
+    "Shake the bottle with orange cap after picking it with the left arm.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Pick up the bottle with glossy surface with the left arm and shake.",
+    "Grab the bottle with glossy surface 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 bottle with orange cap and give it a shake.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Use the left arm to pick the bottle with orange cap.",
+    "Use the left arm to grab the plastic bottle with printed label and shake.",
+    "Shake the bottle with orange cap after picking it with the left arm.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Pick up the plastic bottle with printed label with the left arm and shake.",
+    "Grab the bottle with glossy surface and shake it.",
+    "Grab the plastic bottle with printed label, 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 give it a shake.",
+    "Pick up the bottle with glossy surface and shake it.",
+    "Use the left arm to pick the bottle with glossy surface.",
+    "Use the left arm to grab the bottle with glossy surface and shake.",
+    "Shake the plastic bottle with printed label after picking it with the left arm.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Pick up the bottle with glossy surface with the left arm and shake.",
+    "Grab the bottle with glossy surface and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001275.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001275.json
new file mode 100644
index 0000000000000000000000000000000000000000..4bcbb5cef55d02ad0a347e54277f88e7d6d120d0
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001275.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the plastic bottle with the right arm and give it a shake.",
+    "Grab and shake the bottle with white printed label using the right arm.",
+    "Shake the bottle with narrow top after lifting it.",
+    "Hold the smooth green plastic bottle steady, then shake it.",
+    "Use the right arm to lift and shake the bottle with white printed label.",
+    "With the right arm, pick the medium-sized green bottle and shake properly.",
+    "Shake the the bottle with ridges near base properly after lifting.",
+    "Shake the smooth green plastic bottle after grabbing it.",
+    "Shake the bottle with rounded neck thoroughly after grabbing it.",
+    "Secure the smooth green plastic bottle and perform a shake.",
+    "Grab the bottle with rounded neck carefully and shake.",
+    "Pick up the bottle with rounded neck and shake it.",
+    "Grab the plastic bottle firmly, shake it, and put it down.",
+    "Grab the bottle with white printed label and give it a shake.",
+    "Lift the medium-sized green bottle with the right arm and shake it.",
+    "Pick the medium green bottle, shake it with the right arm.",
+    "Lift the medium green bottle with capped neck and shake it gently.",
+    "Pick the plastic bottle up with the right arm and shake.",
+    "Grasp the smooth green bottle with the right arm and shake it.",
+    "Grab the medium green bottle with capped neck and move it to shake.",
+    "Lift the bottle with ridges near base with the right arm and shake.",
+    "Grab the bottle with rounded neck with the right arm and shake.",
+    "Shake the medium-sized green bottle firmly after grabbing.",
+    "Lift up the bottle with white printed label using the right arm, then shake.",
+    "Catch the medium-sized green bottle and shake it instantly.",
+    "Use the right arm to grab the smooth green plastic bottle and shake it.",
+    "Pick the green bottle with indented base up using the right arm and shake it.",
+    "Hold the bottle with narrow top, shake it briefly.",
+    "Hold the bottle with white printed label with the right arm and shake lightly.",
+    "Grab the green bottle with indented base using the right arm, then shake.",
+    "Use the right arm to grab the smooth green plastic bottle and shake properly.",
+    "Hold and shake the the smooth green bottle carefully.",
+    "Shake the medium-sized green bottle after holding it firmly.",
+    "Use the right arm to lift and shake the smooth green bottle.",
+    "Using the right arm, shake the green bottle with indented base and then place it back.",
+    "Grip the medium-sized green bottle using the right arm and shake.",
+    "Shake the medium green bottle with capped neck using the right arm after grabbing.",
+    "Use the right arm to hold the medium green bottle and shake it.",
+    "Utilize the right arm to hold the bottle with white printed label and shake it.",
+    "Grab the bottle with rounded neck and shake it steadily.",
+    "Use the right arm to lift and shake the medium green bottle.",
+    "Shake the medium green bottle with capped neck after grabbing it.",
+    "Take the bottle with white printed label using the right arm and give it a shake.",
+    "Lift the handheld green bottle and shake it thoroughly.",
+    "Secure the bottle with rounded neck, shake it, and place it down.",
+    "Hold the bottle with white printed label and shake it properly.",
+    "Pick the smooth green bottle and perform shaking motion.",
+    "Use the right arm to pick and shake the medium green bottle.",
+    "Shake the medium green bottle after grabbing it.",
+    "Pick up the bottle with narrow top and shake it well.",
+    "Lift the plastic bottle with the right arm and give it a shake.",
+    "Grab and shake the smooth green plastic bottle using the right arm.",
+    "Shake the handheld green bottle after lifting it.",
+    "Hold the medium green bottle steady, then shake it.",
+    "Use the right arm to lift and shake the medium green bottle.",
+    "With the right arm, pick the smooth green bottle and shake properly.",
+    "Shake the the medium green bottle with capped neck properly after lifting.",
+    "Shake the bottle with narrow top after grabbing it.",
+    "Shake the plastic bottle thoroughly after grabbing it.",
+    "Secure the bottle with rounded neck and perform a shake.",
+    "Grab the bottle with white printed label carefully and shake.",
+    "Pick up the medium green bottle and shake it.",
+    "Grab the bottle with white printed label firmly, shake it, and put it down.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Lift the smooth green plastic bottle with the right arm and shake it.",
+    "Pick the handheld green bottle, shake it with the right arm.",
+    "Lift the bottle with ridges near base and shake it gently.",
+    "Pick the plastic bottle up with the right arm and shake.",
+    "Grasp the plastic bottle with the right arm and shake it.",
+    "Grab the medium green bottle with capped neck and move it to shake.",
+    "Lift the bottle with ridges near base with the right arm and shake.",
+    "Grab the handheld green bottle with the right arm and shake.",
+    "Shake the bottle with narrow top firmly after grabbing.",
+    "Lift up the green bottle with indented base using the right arm, then shake.",
+    "Catch the bottle with rounded neck and shake it instantly.",
+    "Use the right arm to grab the medium green bottle and shake it.",
+    "Pick the green bottle with indented base up using the right arm and shake it.",
+    "Hold the bottle with white printed label, shake it briefly.",
+    "Hold the green bottle with indented base with the right arm and shake lightly.",
+    "Grab the green bottle with indented base using the right arm, then shake.",
+    "Use the right arm to grab the smooth green bottle and shake properly.",
+    "Hold and shake the the bottle with narrow top carefully.",
+    "Shake the smooth green plastic bottle after holding it firmly.",
+    "Use the right arm to lift and shake the bottle with white printed label.",
+    "Using the right arm, shake the bottle with ridges near base and then place it back.",
+    "Grip the medium green bottle using the right arm and shake.",
+    "Shake the green bottle with indented base using the right arm after grabbing.",
+    "Use the right arm to hold the smooth green bottle and shake it.",
+    "Utilize the right arm to hold the handheld green bottle and shake it.",
+    "Grab the handheld green bottle and shake it steadily.",
+    "Use the right arm to lift and shake the medium-sized green bottle.",
+    "Shake the smooth green bottle after grabbing it.",
+    "Take the plastic bottle using the right arm and give it a shake.",
+    "Lift the smooth green plastic bottle and shake it thoroughly.",
+    "Secure the plastic bottle, shake it, and place it down.",
+    "Hold the bottle with ridges near base and shake it properly.",
+    "Pick the medium green bottle and perform shaking motion.",
+    "Use the right arm to pick and shake the green bottle with indented base.",
+    "Shake the medium-sized green bottle after grabbing it.",
+    "Pick up the medium-sized green bottle and shake it well."
+  ],
+  "unseen": [
+    "Pick up the green bottle and shake it.",
+    "Grab the green bottle and shake it.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "Use the right arm to pick the green bottle.",
+    "Use the right arm to grab the green bottle and shake.",
+    "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick and shake the the green bottle with the right arm.",
+    "Pick up the green bottle with the right arm and shake.",
+    "Pick up the green bottle and shake it.",
+    "Shake the green bottle with white label after picking it with the right arm.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green bottle and give it a shake.",
+    "Use the right arm to pick the green bottle.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the right arm.",
+    "Pick up the green bottle with white label with the right arm and shake.",
+    "Pick up the green bottle with white label and shake it.",
+    "Shake the green plastic bottle with ridged bottom after picking it with the right arm.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green bottle with white label and shake it.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Use the right arm to pick the green bottle.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the right arm.",
+    "Pick up the green bottle with white label with the right arm and shake.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Shake the green bottle after picking it with the right arm.",
+    "Pick up the green bottle with white label and shake it.",
+    "Grab the green bottle with white label and shake it.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Use the right arm to pick the green plastic bottle with ridged bottom.",
+    "Use the right arm to grab the green bottle and shake.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Pick and shake the the green bottle with white label with the right arm.",
+    "Pick up the green plastic bottle with ridged bottom with the right arm and shake.",
+    "Pick up the green bottle with white label and shake it.",
+    "Shake the green bottle after picking it with the right arm.",
+    "Pick up the green bottle with white label and shake it.",
+    "Grab the green bottle with white label and shake it.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Use the right arm to pick the green bottle with white label.",
+    "Use the right arm to grab the green bottle with white label and shake.",
+    "Grab the green bottle with white label, shake it properly, then set it down.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the right arm.",
+    "Pick up the green bottle with the right arm and shake.",
+    "Pick up the green bottle with white label and shake it.",
+    "Shake the green bottle with white label after picking it with the right arm.",
+    "Pick up the green bottle and shake it.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "Use the right arm to pick the green plastic bottle with ridged bottom.",
+    "Use the right arm to grab the green bottle and shake.",
+    "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the right arm.",
+    "Pick up the green bottle with white label with the right arm and shake.",
+    "Pick up the green bottle with white label and shake it.",
+    "Shake the green bottle with white label after picking it with the right arm.",
+    "Pick up the green bottle with white label and shake it.",
+    "Grab the green bottle with white label and shake it.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Use the right arm to pick the green bottle with white label.",
+    "Use the right arm to grab the green bottle and shake.",
+    "Grab the green bottle with white label, shake it properly, then set it down.",
+    "Pick and shake the the green bottle with the right arm.",
+    "Pick up the green bottle with the right arm and shake.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Shake the green bottle after picking it with the right arm.",
+    "Pick up the green bottle and shake it.",
+    "Grab the green bottle and shake it.",
+    "Grab the green bottle and give it a shake.",
+    "Use the right arm to pick the green plastic bottle with ridged bottom.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the right arm.",
+    "Pick up the green bottle with white label with the right arm and shake.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Shake the green bottle with white label after picking it with the right arm.",
+    "Pick up the green bottle with white label and shake it.",
+    "Grab the green bottle and shake it.",
+    "Grab the green bottle and give it a shake.",
+    "Use the right arm to pick the green bottle with white label.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick and shake the the green bottle with white label with the right arm.",
+    "Pick up the green bottle with the right arm and shake.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Shake the green bottle after picking it with the right arm.",
+    "Pick up the green bottle with white label and shake it.",
+    "Grab the green bottle with white label and shake it.",
+    "Grab the green bottle and give it a shake.",
+    "Use the right arm to pick the green bottle with white label.",
+    "Use the right arm to grab the green bottle with white label and shake.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the right arm.",
+    "Pick up the green bottle with the right arm and shake.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Shake the green bottle after picking it with the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001314.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001314.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a8bca1bb8df53d0a779bae9acfbfa9917506d8c
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001314.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the medium black bottle with printed label after grabbing it.",
+    "Utilize the left arm to hold the beverage bottle with black body and shake it.",
+    "Hold the black plastic bottle with Pepsi logo, shake it briefly.",
+    "Grab the bottle with blue and yellow print with the left arm and shake.",
+    "Grab and shake the plastic bottle with colorful label using the left arm.",
+    "Grab the black bottle and give it a shake.",
+    "Grab the medium bottle with yellow cap using the left arm, then shake.",
+    "Shake the black plastic bottle with Pepsi logo thoroughly after grabbing it.",
+    "Pick the yellow-capped cylindrical bottle and perform shaking motion.",
+    "Use the left arm to grab the plastic bottle with colorful label and shake it.",
+    "Hold the black plastic bottle with Pepsi logo steady, then shake it.",
+    "Hold the black bottle and shake it properly.",
+    "Shake the bottle with blue and yellow print after grabbing it.",
+    "Shake the yellow-capped cylindrical bottle firmly after grabbing.",
+    "Shake the the yellow capped drink bottle properly after lifting.",
+    "Grab the yellow-capped cylindrical bottle and shake it steadily.",
+    "Shake the yellow-capped cylindrical bottle after lifting it.",
+    "Pick the drink bottle with rounded yellow lid up with the left arm and shake.",
+    "Pick the black plastic bottle with Pepsi logo up using the left arm and shake it.",
+    "Grasp the beverage bottle with black body with the left arm and shake it.",
+    "Catch the yellow capped drink bottle and shake it instantly.",
+    "Lift the drink bottle with rounded yellow lid with the left arm and shake.",
+    "Lift up the plastic bottle with colorful label using the left arm, then shake.",
+    "Using the left arm, shake the drink bottle with rounded yellow lid and then place it back.",
+    "Grab the drink bottle with rounded yellow lid carefully and shake.",
+    "Pick up the bottle with blue and yellow print and shake it.",
+    "Lift the medium black bottle with printed label with the left arm and give it a shake.",
+    "Hold the drink bottle with rounded yellow lid with the left arm and shake lightly.",
+    "Pick up the medium bottle with yellow cap and shake it well.",
+    "Hold and shake the the black plastic bottle with Pepsi logo carefully.",
+    "Grip the medium black bottle with printed label using the left arm and shake.",
+    "Grab the black bottle and move it to shake.",
+    "Lift the black cylindrical bottle with ridges and shake it gently.",
+    "Secure the drink bottle with rounded yellow lid, shake it, and place it down.",
+    "Use the left arm to hold the black cylindrical bottle with ridges and shake it.",
+    "Use the left arm to lift and shake the smooth black bottle with ridges.",
+    "Use the left arm to lift and shake the yellow-capped cylindrical bottle.",
+    "Pick the beverage bottle with black body, shake it with the left arm.",
+    "Shake the black bottle using the left arm after grabbing.",
+    "Lift the medium black bottle with printed label with the left arm and shake it.",
+    "Secure the smooth black bottle with ridges and perform a shake.",
+    "Use the left arm to pick and shake the black cylindrical bottle with ridges.",
+    "Use the left arm to grab the medium bottle with yellow cap and shake properly.",
+    "Grab the plastic bottle with colorful label firmly, shake it, and put it down.",
+    "Lift the medium bottle with yellow cap and shake it thoroughly.",
+    "Take the smooth black bottle with ridges using the left arm and give it a shake.",
+    "Shake the black bottle after grabbing it.",
+    "Use the left arm to lift and shake the beverage bottle with black body.",
+    "Shake the drink bottle with rounded yellow lid after holding it firmly.",
+    "With the left arm, pick the black bottle and shake properly.",
+    "Shake the black cylindrical bottle with ridges after grabbing it.",
+    "Utilize the left arm to hold the drink bottle with rounded yellow lid and shake it.",
+    "Hold the smooth black bottle with ridges, shake it briefly.",
+    "Grab the black cylindrical bottle with ridges with the left arm and shake.",
+    "Grab and shake the smooth black bottle with ridges using the left arm.",
+    "Grab the plastic bottle with colorful label and give it a shake.",
+    "Grab the yellow capped drink bottle using the left arm, then shake.",
+    "Shake the yellow capped drink bottle thoroughly after grabbing it.",
+    "Pick the yellow-capped cylindrical bottle and perform shaking motion.",
+    "Use the left arm to grab the yellow capped drink bottle and shake it.",
+    "Hold the black cylindrical bottle with ridges steady, then shake it.",
+    "Hold the medium bottle with yellow cap and shake it properly.",
+    "Shake the medium bottle with yellow cap after grabbing it.",
+    "Shake the drink bottle with rounded yellow lid firmly after grabbing.",
+    "Shake the the plastic bottle with colorful label properly after lifting.",
+    "Grab the beverage bottle with black body and shake it steadily.",
+    "Shake the beverage bottle with black body after lifting it.",
+    "Pick the medium black bottle with printed label up with the left arm and shake.",
+    "Pick the drink bottle with rounded yellow lid up using the left arm and shake it.",
+    "Grasp the medium black bottle with printed label with the left arm and shake it.",
+    "Catch the bottle with blue and yellow print and shake it instantly.",
+    "Lift the medium bottle with yellow cap with the left arm and shake.",
+    "Lift up the medium bottle with yellow cap using the left arm, then shake.",
+    "Using the left arm, shake the black cylindrical bottle with ridges and then place it back.",
+    "Grab the yellow-capped cylindrical bottle carefully and shake.",
+    "Pick up the bottle with blue and yellow print and shake it.",
+    "Lift the yellow-capped cylindrical bottle with the left arm and give it a shake.",
+    "Hold the medium bottle with yellow cap with the left arm and shake lightly.",
+    "Pick up the beverage bottle with black body and shake it well.",
+    "Hold and shake the the medium black bottle with printed label carefully.",
+    "Grip the black bottle using the left arm and shake.",
+    "Grab the black plastic bottle with Pepsi logo and move it to shake.",
+    "Lift the yellow capped drink bottle and shake it gently.",
+    "Secure the smooth black bottle with ridges, shake it, and place it down.",
+    "Use the left arm to hold the black cylindrical bottle with ridges and shake it.",
+    "Use the left arm to lift and shake the black bottle.",
+    "Use the left arm to lift and shake the plastic bottle with colorful label.",
+    "Pick the black bottle, shake it with the left arm.",
+    "Shake the yellow capped drink bottle using the left arm after grabbing.",
+    "Lift the drink bottle with rounded yellow lid with the left arm and shake it.",
+    "Secure the drink bottle with rounded yellow lid and perform a shake.",
+    "Use the left arm to pick and shake the black cylindrical bottle with ridges.",
+    "Use the left arm to grab the smooth black bottle with ridges and shake properly.",
+    "Grab the medium black bottle with printed label firmly, shake it, and put it down.",
+    "Lift the bottle with blue and yellow print and shake it thoroughly.",
+    "Take the bottle with blue and yellow print using the left arm and give it a shake.",
+    "Shake the black plastic bottle with Pepsi logo after grabbing it.",
+    "Use the left arm to lift and shake the yellow-capped cylindrical bottle.",
+    "Shake the black bottle after holding it firmly.",
+    "With the left arm, pick the black cylindrical bottle with ridges and shake properly."
+  ],
+  "unseen": [
+    "Grab the bottle with ridges near base and shake it.",
+    "Pick and shake the the bottle with ridges near base with the left arm.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Use the left arm to pick the plastic bottle with blue label.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Pick up the bottle with ridges near base with the left arm and shake.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Use the left arm to grab the plastic bottle with blue label and shake.",
+    "Use the left arm to pick the hand-sized bottle with ridged bottom.",
+    "Shake the bottle with ridges near base after picking it with the left arm.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Pick up the bottle with ridges near base with the left arm 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 left arm.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Use the left arm to grab the plastic bottle with blue label and shake.",
+    "Use the left arm to pick the hand-sized bottle with ridged bottom.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom with the left arm 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 left arm.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Use the left arm to pick the hand-sized bottle with ridged bottom.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Pick up the plastic bottle with blue label with the left arm and shake.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Pick and shake the the plastic bottle with blue label with the left arm.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Use the left arm to pick the bottle with ridges near base.",
+    "Shake the bottle with ridges near base after picking it with the left arm.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Pick up the bottle with ridges near base with the left arm and shake.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Pick and shake the the plastic bottle with blue label with the left arm.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Use the left arm to grab the plastic bottle with blue label and shake.",
+    "Use the left arm to pick the plastic bottle with blue label.",
+    "Shake the bottle with ridges near base after picking it with the left arm.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Pick up the bottle with ridges near base with the left arm and shake.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Pick and shake the the bottle with ridges near base with the left arm.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with ridges near base and shake.",
+    "Use the left arm to pick the hand-sized bottle with ridged bottom.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Use the left arm to grab the plastic bottle with blue label and shake.",
+    "Use the left arm to pick the plastic bottle with blue label.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Pick up the bottle with ridges near base with the left arm and shake.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with ridges near base and shake.",
+    "Use the left arm to pick the hand-sized bottle with ridged bottom.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Pick up the plastic bottle with blue label with the left arm and shake.",
+    "Grab the bottle with ridges near base and shake it.",
+    "Pick and shake the the bottle with ridges near base with the left arm.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with ridges near base and shake.",
+    "Use the left arm to pick the bottle with ridges near base.",
+    "Shake the bottle with ridges near base after picking it with the left arm.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Pick up the bottle with ridges near base with the left arm and shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001363.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001363.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f97e3ef29c1c299dc4f5c44ff7103c8241e0798
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10001363.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the plastic bottle firmly after grabbing.",
+    "Pick the smooth green bottle up using the right arm and shake it.",
+    "Lift the medium-sized green bottle and shake it gently.",
+    "Shake the medium green bottle with capped neck after holding it firmly.",
+    "Lift the medium-sized green bottle with the right arm and shake it.",
+    "Catch the medium-sized green bottle and shake it instantly.",
+    "Lift the bottle with rounded neck with the right arm and shake.",
+    "Shake the the green bottle with indented base properly after lifting.",
+    "Grab the plastic bottle and give it a shake.",
+    "Shake the medium green bottle after grabbing it.",
+    "Pick up the medium green bottle and shake it.",
+    "Use the right arm to pick and shake the medium-sized green bottle.",
+    "Grab the medium green bottle with capped neck using the right arm, then shake.",
+    "Secure the smooth green bottle, shake it, and place it down.",
+    "Pick the bottle with white printed label up with the right arm and shake.",
+    "Pick the medium green bottle with capped neck, shake it with the right arm.",
+    "Use the right arm to lift and shake the green bottle with indented base.",
+    "Pick up the medium green bottle and shake it well.",
+    "Shake the medium green bottle after lifting it.",
+    "Lift the medium green bottle with capped neck with the right arm and give it a shake.",
+    "Use the right arm to grab the medium green bottle and shake properly.",
+    "Use the right arm to hold the green bottle with indented base and shake it.",
+    "Secure the green bottle with indented base and perform a shake.",
+    "Grip the smooth green plastic bottle using the right arm and shake.",
+    "Lift up the medium green bottle with capped neck using the right arm, then shake.",
+    "Use the right arm to lift and shake the smooth green bottle.",
+    "Take the medium green bottle using the right arm and give it a shake.",
+    "Shake the smooth green plastic bottle after grabbing it.",
+    "Grasp the medium-sized green bottle with the right arm and shake it.",
+    "With the right arm, pick the bottle with ridges near base and shake properly.",
+    "Hold the bottle with rounded neck with the right arm and shake lightly.",
+    "Utilize the right arm to hold the bottle with white printed label and shake it.",
+    "Shake the smooth green bottle thoroughly after grabbing it.",
+    "Hold the bottle with narrow top, shake it briefly.",
+    "Grab the medium green bottle with the right arm and shake.",
+    "Grab and shake the bottle with white printed label using the right arm.",
+    "Hold and shake the the plastic bottle carefully.",
+    "Grab the handheld green bottle firmly, shake it, and put it down.",
+    "Lift the medium-sized green bottle and shake it thoroughly.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Hold the bottle with narrow top steady, then shake it.",
+    "Using the right arm, shake the bottle with white printed label and then place it back.",
+    "Hold the plastic bottle and shake it properly.",
+    "Shake the medium green bottle with capped neck after grabbing it.",
+    "Grab the bottle with ridges near base and shake it steadily.",
+    "Grab the medium-sized green bottle and move it to shake.",
+    "Pick the smooth green plastic bottle and perform shaking motion.",
+    "Use the right arm to grab the bottle with narrow top and shake it.",
+    "Shake the bottle with rounded neck using the right arm after grabbing.",
+    "Grab the smooth green bottle carefully and shake.",
+    "Shake the medium green bottle firmly after grabbing.",
+    "Pick the bottle with narrow top up using the right arm and shake it.",
+    "Lift the medium green bottle with capped neck and shake it gently.",
+    "Shake the medium-sized green bottle after holding it firmly.",
+    "Lift the bottle with ridges near base with the right arm and shake it.",
+    "Catch the bottle with ridges near base and shake it instantly.",
+    "Lift the medium green bottle with the right arm and shake.",
+    "Shake the the medium-sized green bottle properly after lifting.",
+    "Grab the bottle with narrow top and give it a shake.",
+    "Shake the smooth green plastic bottle after grabbing it.",
+    "Pick up the handheld green bottle and shake it.",
+    "Use the right arm to pick and shake the plastic bottle.",
+    "Grab the bottle with white printed label using the right arm, then shake.",
+    "Secure the medium green bottle, shake it, and place it down.",
+    "Pick the smooth green bottle up with the right arm and shake.",
+    "Pick the bottle with ridges near base, shake it with the right arm.",
+    "Use the right arm to lift and shake the medium-sized green bottle.",
+    "Pick up the bottle with white printed label and shake it well.",
+    "Shake the handheld green bottle after lifting it.",
+    "Lift the bottle with ridges near base with the right arm and give it a shake.",
+    "Use the right arm to grab the green bottle with indented base and shake properly.",
+    "Use the right arm to hold the bottle with white printed label and shake it.",
+    "Secure the smooth green bottle and perform a shake.",
+    "Grip the bottle with narrow top using the right arm and shake.",
+    "Lift up the bottle with narrow top using the right arm, then shake.",
+    "Use the right arm to lift and shake the smooth green plastic bottle.",
+    "Take the medium green bottle using the right arm and give it a shake.",
+    "Shake the green bottle with indented base after grabbing it.",
+    "Grasp the bottle with rounded neck with the right arm and shake it.",
+    "With the right arm, pick the bottle with narrow top and shake properly.",
+    "Hold the bottle with ridges near base with the right arm and shake lightly.",
+    "Utilize the right arm to hold the bottle with narrow top and shake it.",
+    "Shake the bottle with ridges near base thoroughly after grabbing it.",
+    "Hold the handheld green bottle, shake it briefly.",
+    "Grab the medium green bottle with the right arm and shake.",
+    "Grab and shake the medium green bottle with capped neck using the right arm.",
+    "Hold and shake the the medium green bottle with capped neck carefully.",
+    "Grab the bottle with ridges near base firmly, shake it, and put it down.",
+    "Lift the medium green bottle and shake it thoroughly.",
+    "Use the right arm to lift and shake the smooth green bottle.",
+    "Hold the bottle with ridges near base steady, then shake it.",
+    "Using the right arm, shake the bottle with ridges near base and then place it back.",
+    "Hold the medium green bottle and shake it properly.",
+    "Shake the medium green bottle after grabbing it.",
+    "Grab the bottle with rounded neck and shake it steadily.",
+    "Grab the medium green bottle with capped neck and move it to shake.",
+    "Pick the smooth green plastic bottle and perform shaking motion.",
+    "Use the right arm to grab the medium green bottle with capped neck and shake it.",
+    "Shake the green bottle with indented base using the right arm after grabbing.",
+    "Grab the bottle with ridges near base carefully and shake."
+  ],
+  "unseen": [
+    "Shake the green bottle after picking it with the right arm.",
+    "Use the right arm to grab the green bottle with white label and shake.",
+    "Pick and shake the the green bottle with the right arm.",
+    "Pick up the green bottle with the right 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.",
+    "Pick up the green bottle and shake it.",
+    "Grab the green bottle and shake it.",
+    "Use the right arm to pick the green plastic bottle with ridged bottom.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Shake the green bottle after picking it with the right arm.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Pick and shake the the green bottle with white label with the right arm.",
+    "Pick up the green bottle with the right arm and shake.",
+    "Grab the green bottle and give it a shake.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Pick up the green bottle with white label and shake it.",
+    "Grab the green bottle with white label and shake it.",
+    "Use the right arm to pick the green bottle.",
+    "Pick up the green bottle and shake it.",
+    "Shake the green bottle with white label after picking it with the right arm.",
+    "Use the right arm to grab the green bottle with white label and shake.",
+    "Pick and shake the the green bottle with the right arm.",
+    "Pick up the green plastic bottle with ridged bottom with the right arm and shake.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Grab the green bottle with white label, shake it properly, then set it down.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green bottle with white label and shake it.",
+    "Use the right arm to pick the green bottle.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Shake the green bottle after picking it with the right arm.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Pick and shake the the green bottle with the right arm.",
+    "Pick up the green bottle with the right arm and shake.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick up the green bottle and shake it.",
+    "Grab the green bottle with white label and shake it.",
+    "Use the right arm to pick the green plastic bottle with ridged bottom.",
+    "Pick up the green bottle with white label and shake it.",
+    "Shake the green bottle with white label after picking it with the right arm.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Pick and shake the the green bottle with white label with the right arm.",
+    "Pick up the green plastic bottle with ridged bottom with the right arm and shake.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Grab the green bottle with white label, shake it properly, then set it down.",
+    "Pick up the green bottle and shake it.",
+    "Grab the green bottle and shake it.",
+    "Use the right arm to pick the green bottle.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Shake the green bottle after picking it with the right arm.",
+    "Use the right arm to grab the green bottle and shake.",
+    "Pick and shake the the green bottle with the right arm.",
+    "Pick up the green bottle with white label with the right 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.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Use the right arm to pick the green bottle with white label.",
+    "Pick up the green bottle with white label and shake it.",
+    "Shake the green bottle after picking it with the right arm.",
+    "Use the right arm to grab the green bottle and shake.",
+    "Pick and shake the the green bottle with white label with the right arm.",
+    "Pick up the green bottle with white label with the right arm and shake.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick up the green bottle with white label and shake it.",
+    "Grab the green bottle with white label and shake it.",
+    "Use the right arm to pick the green bottle.",
+    "Pick up the green bottle with white label and shake it.",
+    "Shake the green bottle with white label after picking it with the right arm.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the right arm.",
+    "Pick up the green bottle with white label with the right arm and shake.",
+    "Grab the green bottle and give it a shake.",
+    "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green bottle and shake it.",
+    "Use the right arm to pick the green bottle with white label.",
+    "Pick up the green bottle and shake it.",
+    "Shake the green plastic bottle with ridged bottom after picking it with the right arm.",
+    "Use the right arm to grab the green bottle with white label and shake.",
+    "Pick and shake the the green bottle with white label with the right arm.",
+    "Pick up the green bottle with white label with the right arm and shake.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick up the green bottle with white label and shake it.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Use the right arm to pick the green bottle.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Shake the green plastic bottle with ridged bottom after picking it with the right arm.",
+    "Use the right arm to grab the green bottle with white label and shake.",
+    "Pick and shake the the green bottle with white label with the right arm.",
+    "Pick up the green plastic bottle with ridged bottom with the right 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.",
+    "Pick up the green bottle with white label and shake it.",
+    "Grab the green bottle and shake it.",
+    "Use the right arm to pick the green bottle with white label.",
+    "Pick up the green plastic bottle with ridged bottom and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002116.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002116.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4c2f6e07f1fad0a529df21921f2ccc4c16f0c54
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002116.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the bottle with white neck and red top with the right arm and shake lightly.",
+    "Lift the red-capped bottle and shake it thoroughly.",
+    "Pick the smooth bottle with red lid and perform shaking motion.",
+    "Secure the smooth bottle with red lid, shake it, and place it down.",
+    "Lift the brown bottle with red label with the right arm and give it a shake.",
+    "Pick the red-capped bottle up using the right arm and shake it.",
+    "Grab the narrow-necked bottle with the right arm and shake.",
+    "Use the right arm to lift and shake the bottle with white neck and red top.",
+    "Using the right arm, shake the smooth bottle with red lid and then place it back.",
+    "Shake the medium dark brown bottle firmly after grabbing.",
+    "Hold the bottle with ridges on bottom steady, then shake it.",
+    "Grab the brown bottle with red label and shake it steadily.",
+    "Pick the brown bottle with red label up with the right arm and shake.",
+    "Shake the narrow-necked bottle after grabbing it.",
+    "Use the right arm to lift and shake the brown bottle with red label.",
+    "Grab the Coca-Cola bottle firmly, shake it, and put it down.",
+    "Shake the the dark drink bottle with logo properly after lifting.",
+    "Grab the dark drink bottle with logo and move it to shake.",
+    "Use the right arm to grab the plastic drink bottle and shake it.",
+    "Grab the Coca-Cola bottle using the right arm, then shake.",
+    "Grab the long thin bottle and give it a shake.",
+    "Grab and shake the red-capped bottle using the right arm.",
+    "Catch the Coca-Cola bottle and shake it instantly.",
+    "Utilize the right arm to hold the long thin bottle and shake it.",
+    "Shake the hand-sized soda bottle after grabbing it.",
+    "Grasp the smooth bottle with red lid with the right arm and shake it.",
+    "Shake the medium dark brown bottle using the right arm after grabbing.",
+    "Shake the bottle with ridges on bottom after holding it firmly.",
+    "Grip the smooth bottle with red lid using the right arm and shake.",
+    "Secure the dark drink bottle with logo and perform a shake.",
+    "Use the right arm to lift and shake the bottle with white neck and red top.",
+    "Pick the hand-sized soda bottle, shake it with the right arm.",
+    "Lift the smooth bottle with red lid with the right arm and shake it.",
+    "Shake the bottle with white neck and red top thoroughly after grabbing it.",
+    "Hold the smooth bottle with red lid, shake it briefly.",
+    "Lift the hand-sized soda bottle with the right arm and shake.",
+    "Use the right arm to grab the bottle with ridges on bottom and shake properly.",
+    "Pick up the smooth bottle with red lid and shake it well.",
+    "Hold and shake the the plastic drink bottle carefully.",
+    "With the right arm, pick the medium dark brown bottle and shake properly.",
+    "Grab the dark drink bottle with logo carefully and shake.",
+    "Use the right arm to pick and shake the brown bottle with red label.",
+    "Pick up the Coca-Cola bottle and shake it.",
+    "Hold the dark drink bottle with logo and shake it properly.",
+    "Lift up the red-capped bottle using the right arm, then shake.",
+    "Lift the long thin bottle and shake it gently.",
+    "Shake the medium dark brown bottle after grabbing it.",
+    "Take the bottle with ridges on bottom using the right arm and give it a shake.",
+    "Shake the dark drink bottle with logo after lifting it.",
+    "Use the right arm to hold the Coca-Cola bottle and shake it.",
+    "Hold the red-capped bottle with the right arm and shake lightly.",
+    "Lift the red-capped bottle and shake it thoroughly.",
+    "Pick the narrow-necked bottle and perform shaking motion.",
+    "Secure the hand-sized soda bottle, shake it, and place it down.",
+    "Lift the plastic drink bottle with the right arm and give it a shake.",
+    "Pick the dark drink bottle with logo up using the right arm and shake it.",
+    "Grab the brown bottle with red label with the right arm and shake.",
+    "Use the right arm to lift and shake the hand-sized soda bottle.",
+    "Using the right arm, shake the long thin bottle and then place it back.",
+    "Shake the hand-sized soda bottle firmly after grabbing.",
+    "Hold the hand-sized soda bottle steady, then shake it.",
+    "Grab the hand-sized soda bottle and shake it steadily.",
+    "Pick the narrow-necked bottle up with the right arm and shake.",
+    "Shake the medium dark brown bottle after grabbing it.",
+    "Use the right arm to lift and shake the dark drink bottle with logo.",
+    "Grab the brown bottle with red label firmly, shake it, and put it down.",
+    "Shake the the red-capped bottle properly after lifting.",
+    "Grab the smooth bottle with red lid and move it to shake.",
+    "Use the right arm to grab the bottle with white neck and red top and shake it.",
+    "Grab the long thin bottle using the right arm, then shake.",
+    "Grab the Coca-Cola bottle and give it a shake.",
+    "Grab and shake the bottle with ridges on bottom using the right arm.",
+    "Catch the smooth bottle with red lid and shake it instantly.",
+    "Utilize the right arm to hold the long thin bottle and shake it.",
+    "Shake the hand-sized soda bottle after grabbing it.",
+    "Grasp the hand-sized soda bottle with the right arm and shake it.",
+    "Shake the long thin bottle using the right arm after grabbing.",
+    "Shake the brown bottle with red label after holding it firmly.",
+    "Grip the medium dark brown bottle using the right arm and shake.",
+    "Secure the smooth bottle with red lid and perform a shake.",
+    "Use the right arm to lift and shake the bottle with white neck and red top.",
+    "Pick the hand-sized soda bottle, shake it with the right arm.",
+    "Lift the hand-sized soda bottle with the right arm and shake it.",
+    "Shake the red-capped bottle thoroughly after grabbing it.",
+    "Hold the brown bottle with red label, shake it briefly.",
+    "Lift the narrow-necked bottle with the right arm and shake.",
+    "Use the right arm to grab the dark drink bottle with logo and shake properly.",
+    "Pick up the bottle with ridges on bottom and shake it well.",
+    "Hold and shake the the brown bottle with red label carefully.",
+    "With the right arm, pick the narrow-necked bottle and shake properly.",
+    "Grab the brown bottle with red label carefully and shake.",
+    "Use the right arm to pick and shake the smooth bottle with red lid.",
+    "Pick up the brown bottle with red label and shake it.",
+    "Hold the Coca-Cola bottle and shake it properly.",
+    "Lift up the smooth bottle with red lid using the right arm, then shake.",
+    "Lift the narrow-necked bottle and shake it gently.",
+    "Shake the hand-sized soda bottle after grabbing it.",
+    "Take the bottle with white neck and red top using the right arm and give it a shake.",
+    "Shake the bottle with ridges on bottom after lifting it.",
+    "Use the right arm to hold the smooth bottle with red lid and shake it."
+  ],
+  "unseen": [
+    "Pick and shake the the plastic soda bottle with the right arm.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Shake the plastic soda bottle after picking it with the right arm.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Use the right arm to pick the plastic soda bottle.",
+    "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.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Grab the plastic soda bottle and shake it.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Shake the plastic soda bottle after picking it with the right arm.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Use the right arm to pick the bottle with red screw cap.",
+    "Pick up the brown bottle and shake it.",
+    "Use the right arm to grab the bottle with red screw cap and shake.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Use the right arm to pick the brown bottle.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Use the right arm to grab the plastic soda bottle and shake.",
+    "Grab the bottle with red screw cap and give it a shake.",
+    "Pick up the bottle with red screw cap with the right arm and shake.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Grab the brown bottle and shake it.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Use the right arm to pick the plastic soda bottle.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Grab the bottle with red screw cap and give it a shake.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Pick and shake the the plastic soda bottle with the right arm.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Shake the plastic soda bottle after picking it with the right arm.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Use the right arm to pick the bottle with red screw cap.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Pick and shake the the plastic soda bottle with the right arm.",
+    "Grab the plastic soda bottle and shake it.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Shake the plastic soda bottle after picking it with the right arm.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Use the right arm to pick the bottle with red screw cap.",
+    "Pick up the brown bottle and shake it.",
+    "Use the right arm to grab the plastic soda bottle and shake.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick up the plastic soda bottle with the right arm and shake.",
+    "Pick and shake the the bottle with red screw cap with the right arm.",
+    "Grab the brown bottle and shake it.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Shake the bottle with red screw cap after picking it with the right arm.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Use the right arm to pick the plastic soda bottle.",
+    "Pick up the brown bottle and shake it.",
+    "Use the right arm to grab the bottle with red screw cap and shake.",
+    "Grab the bottle with red screw cap and give it a shake.",
+    "Pick up the plastic soda bottle with the right arm and shake.",
+    "Pick and shake the the plastic soda bottle with the right arm.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Shake the plastic soda bottle after picking it with the right arm.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Use the right arm to pick the brown bottle.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Use the right arm to grab the plastic soda bottle and shake.",
+    "Grab the bottle with red screw cap and give it a shake.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Use the right arm to pick the plastic soda bottle.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Grab the bottle with red screw cap and give it a shake.",
+    "Pick up the plastic soda bottle with the right arm and shake.",
+    "Pick and shake the the plastic soda bottle with the right arm.",
+    "Grab the brown bottle and shake it.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Shake the bottle with red screw cap after picking it with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Use the right arm to pick the brown bottle.",
+    "Pick up the brown bottle and shake it.",
+    "Use the right arm to grab the bottle with red screw cap and shake.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Pick up the plastic soda bottle with the right arm and shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002121.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002121.json
new file mode 100644
index 0000000000000000000000000000000000000000..80b8b28c53e5e5ce7994c1b2b535a5fdeb8e0596
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002121.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the bottle with ribbed orange bottom with the left arm and give it a shake.",
+    "Grab the medium orange bottle carefully and shake.",
+    "Shake the medium bottle with orange lid using the left arm after grabbing.",
+    "Lift the yellow label bottle and shake it gently.",
+    "Grasp the plastic bottle with the left arm and shake it.",
+    "Lift the bottle with ribbed orange bottom with the left arm and shake it.",
+    "Shake the cylindrical orange and white bottle after grabbing it.",
+    "Pick the white and orange plastic bottle up using the left arm and shake it.",
+    "Grab the bottle with ribbed orange bottom and give it a shake.",
+    "Grip the orange and white bottle with cap using the left arm and shake.",
+    "Grab the orange bottle firmly, shake it, and put it down.",
+    "Shake the cylindrical orange and white bottle after grabbing it.",
+    "Use the left arm to pick and shake the bottle with ribbed orange bottom.",
+    "Shake the smooth plastic bottle after holding it firmly.",
+    "Shake the the bottle with orange cap properly after lifting.",
+    "Utilize the left arm to hold the white and orange plastic bottle and shake it.",
+    "Grab the yellow label bottle using the left arm, then shake.",
+    "Use the left arm to lift and shake the orange bottle.",
+    "Shake the white and orange plastic bottle firmly after grabbing.",
+    "Pick up the orange bottle and shake it.",
+    "Hold the medium orange bottle, shake it briefly.",
+    "Use the left arm to grab the medium orange bottle and shake it.",
+    "Hold the orange and white bottle with cap with the left arm and shake lightly.",
+    "Lift the orange and white bottle with cap with the left arm and shake.",
+    "Pick the white and orange plastic bottle, shake it with the left arm.",
+    "Grab the smooth plastic bottle and shake it steadily.",
+    "Grab the orange bottle with the left arm and shake.",
+    "Use the left arm to lift and shake the plastic bottle.",
+    "Secure the smooth plastic bottle and perform a shake.",
+    "Grab the bottle with orange cap and move it to shake.",
+    "Hold the white and orange plastic bottle steady, then shake it.",
+    "Using the left arm, shake the smooth plastic bottle and then place it back.",
+    "Lift the orange and white bottle with cap and shake it thoroughly.",
+    "With the left arm, pick the orange bottle and shake properly.",
+    "Use the left arm to hold the plastic bottle and shake it.",
+    "Catch the drinking bottle with yellow label and shake it instantly.",
+    "Secure the medium orange bottle, shake it, and place it down.",
+    "Hold and shake the the medium bottle with orange lid carefully.",
+    "Lift up the orange and white bottle with cap using the left arm, then shake.",
+    "Take the white and orange plastic bottle using the left arm and give it a shake.",
+    "Pick the cylindrical orange and white bottle up with the left arm and shake.",
+    "Pick up the plastic bottle and shake it well.",
+    "Grab and shake the cylindrical orange and white bottle using the left arm.",
+    "Hold the orange bottle and shake it properly.",
+    "Use the left arm to grab the smooth plastic bottle and shake properly.",
+    "Shake the orange and white bottle with cap after grabbing it.",
+    "Use the left arm to lift and shake the yellow label bottle.",
+    "Shake the drinking bottle with yellow label thoroughly after grabbing it.",
+    "Shake the plastic bottle after lifting it.",
+    "Pick the white and orange plastic bottle and perform shaking motion.",
+    "Lift the orange bottle with the left arm and give it a shake.",
+    "Grab the drinking bottle with yellow label carefully and shake.",
+    "Shake the plastic bottle using the left arm after grabbing.",
+    "Lift the bottle with orange cap and shake it gently.",
+    "Grasp the cylindrical orange and white bottle with the left arm and shake it.",
+    "Lift the plastic bottle with the left arm and shake it.",
+    "Shake the bottle with ribbed orange bottom after grabbing it.",
+    "Pick the yellow label bottle up using the left arm and shake it.",
+    "Grab the white and orange plastic bottle and give it a shake.",
+    "Grip the yellow label bottle using the left arm and shake.",
+    "Grab the bottle with orange cap firmly, shake it, and put it down.",
+    "Shake the white and orange plastic bottle after grabbing it.",
+    "Use the left arm to pick and shake the medium bottle with orange lid.",
+    "Shake the yellow label bottle after holding it firmly.",
+    "Shake the the plastic bottle properly after lifting.",
+    "Utilize the left arm to hold the bottle with ribbed orange bottom and shake it.",
+    "Grab the smooth plastic bottle using the left arm, then shake.",
+    "Use the left arm to lift and shake the bottle with orange cap.",
+    "Shake the orange and white bottle with cap firmly after grabbing.",
+    "Pick up the medium bottle with orange lid and shake it.",
+    "Hold the drinking bottle with yellow label, shake it briefly.",
+    "Use the left arm to grab the bottle with ribbed orange bottom and shake it.",
+    "Hold the white and orange plastic bottle with the left arm and shake lightly.",
+    "Lift the cylindrical orange and white bottle with the left arm and shake.",
+    "Pick the orange and white bottle with cap, shake it with the left arm.",
+    "Grab the orange bottle and shake it steadily.",
+    "Grab the orange bottle with the left arm and shake.",
+    "Use the left arm to lift and shake the medium bottle with orange lid.",
+    "Secure the bottle with orange cap and perform a shake.",
+    "Grab the bottle with orange cap and move it to shake.",
+    "Hold the drinking bottle with yellow label steady, then shake it.",
+    "Using the left arm, shake the cylindrical orange and white bottle and then place it back.",
+    "Lift the white and orange plastic bottle and shake it thoroughly.",
+    "With the left arm, pick the cylindrical orange and white bottle and shake properly.",
+    "Use the left arm to hold the cylindrical orange and white bottle and shake it.",
+    "Catch the yellow label bottle and shake it instantly.",
+    "Secure the drinking bottle with yellow label, shake it, and place it down.",
+    "Hold and shake the the plastic bottle carefully.",
+    "Lift up the plastic bottle using the left arm, then shake.",
+    "Take the bottle with ribbed orange bottom using the left arm and give it a shake.",
+    "Pick the orange bottle up with the left arm and shake.",
+    "Pick up the smooth plastic bottle and shake it well.",
+    "Grab and shake the smooth plastic bottle using the left arm.",
+    "Hold the bottle with orange cap and shake it properly.",
+    "Use the left arm to grab the cylindrical orange and white bottle and shake properly.",
+    "Shake the bottle with ribbed orange bottom after grabbing it.",
+    "Use the left arm to lift and shake the bottle with ribbed orange bottom.",
+    "Shake the white and orange plastic bottle thoroughly after grabbing it.",
+    "Shake the orange and white bottle with cap after lifting it.",
+    "Pick the medium bottle with orange lid and perform shaking motion."
+  ],
+  "unseen": [
+    "Use the left arm to pick the bottle with yellow sticker label.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick up the bottle with yellow sticker label with the left arm and shake.",
+    "Grab the bottle with curved body and shake it.",
+    "Use the left arm to grab the bottle with curved body and shake.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick and shake the the curvy orange bottle with white section with the left arm.",
+    "Shake the curvy orange bottle with white section after picking it with the left arm.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Use the left arm to pick the curvy orange bottle with white section.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick up the bottle with curved body with the left arm and shake.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Use the left arm to grab the bottle with curved body and shake.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick and shake the the curvy orange bottle with white section with the left arm.",
+    "Shake the curvy orange bottle with white section after picking it with the left arm.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Use the left arm to pick the bottle with curved body.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick up the bottle with curved body with the left arm and shake.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Use the left arm to grab the curvy orange bottle with white section and shake.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick and shake the the bottle with yellow sticker label with the left arm.",
+    "Shake the bottle with yellow sticker label after picking it with the left arm.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Use the left arm to pick the bottle with yellow sticker label.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick up the bottle with yellow sticker label with the left arm and shake.",
+    "Grab the bottle with curved body and shake it.",
+    "Use the left arm to grab the bottle with curved body and shake.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick and shake the the curvy orange bottle with white section with the left arm.",
+    "Shake the bottle with yellow sticker label after picking it with the left arm.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Use the left arm to pick the bottle with curved body.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick up the curvy orange bottle with white section with the left arm and shake.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Use the left arm to grab the bottle with yellow sticker label and shake.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick and shake the the bottle with curved body with the left arm.",
+    "Shake the curvy orange bottle with white section after picking it with the left arm.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Use the left arm to pick the curvy orange bottle with white section.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick up the curvy orange bottle with white section with the left arm and shake.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Use the left arm to grab the curvy orange bottle with white section and shake.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick and shake the the curvy orange bottle with white section with the left arm.",
+    "Shake the bottle with yellow sticker label after picking it with the left arm.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Use the left arm to pick the bottle with curved body.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick up the bottle with yellow sticker label with the left arm and shake.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Use the left arm to grab the bottle with yellow sticker label and shake.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick and shake the the bottle with curved body with the left arm.",
+    "Shake the bottle with curved body after picking it with the left arm.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Use the left arm to pick the bottle with yellow sticker label.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick up the curvy orange bottle with white section with the left arm and shake.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Use the left arm to grab the bottle with yellow sticker label and shake.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick and shake the the bottle with yellow sticker label with the left arm.",
+    "Shake the bottle with curved body after picking it with the left arm.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Use the left arm to pick the curvy orange bottle with white section.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick up the bottle with yellow sticker label with the left arm and shake.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Use the left arm to grab the bottle with curved body and shake.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick and shake the the bottle with curved body with the left arm.",
+    "Shake the bottle with curved body after picking it with the left arm.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Use the left arm to pick the bottle with yellow sticker label.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick up the bottle with curved body with the left arm and shake.",
+    "Grab the bottle with curved body and shake it.",
+    "Use the left arm to grab the bottle with curved body and shake.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick and shake the the bottle with yellow sticker label with the left arm.",
+    "Shake the curvy orange bottle with white section after picking it with the left arm.",
+    "Grab the bottle with curved body, shake it properly, then set it down."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002151.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002151.json
new file mode 100644
index 0000000000000000000000000000000000000000..3eb2d9d07e1cd09d9e100036752146544146a9e0
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002151.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the bottle shaped like small cylinder after grabbing it.",
+    "Secure the smooth surface bottle with gray shade, shake it, and place it down.",
+    "Hold the medium-sized plastic bottle and shake it properly.",
+    "Lift the milk-bottle shape design with the left arm and shake it.",
+    "Hold and shake the the hand-sized bottle with screw cap carefully.",
+    "Shake the bottle shaped like small cylinder after holding it firmly.",
+    "Grab and shake the rounded body bottle made of plastic using the left arm.",
+    "Hold the medium-sized plastic bottle steady, then shake it.",
+    "Pick up the medium cylinder-shaped bottle and shake it.",
+    "Grab the bottle with cute ghost drawing and move it to shake.",
+    "Lift the milk-bottle shape design and shake it thoroughly.",
+    "Grab the milk-bottle shape design firmly, shake it, and put it down.",
+    "Catch the hand-sized bottle with screw cap and shake it instantly.",
+    "Pick the light gray colored container bottle and perform shaking motion.",
+    "Grip the gray bottle with slight shine using the left arm and shake.",
+    "Use the left arm to lift and shake the bottle with cute ghost drawing.",
+    "Shake the smooth surface bottle with gray shade after lifting it.",
+    "Grab the light gray colored container bottle with the left arm and shake.",
+    "Use the left arm to lift and shake the smooth surface bottle with gray shade.",
+    "Lift the smooth surface bottle with gray shade with the left arm and give it a shake.",
+    "Lift the gray bottle with slight shine with the left arm and shake.",
+    "Shake the smooth cylindrical bottle after grabbing it.",
+    "Shake the the medium-sized plastic bottle properly after lifting.",
+    "Pick up the medium cylinder-shaped bottle and shake it well.",
+    "Grasp the smooth surface bottle with gray shade with the left arm and shake it.",
+    "Grab the bottle shaped like small cylinder using the left arm, then shake.",
+    "Use the left arm to grab the medium-sized plastic bottle and shake properly.",
+    "With the left arm, pick the medium cylinder-shaped bottle and shake properly.",
+    "Secure the bottle shaped like small cylinder and perform a shake.",
+    "Shake the light gray colored container bottle firmly after grabbing.",
+    "Pick the hand-sized bottle with screw cap up with the left arm and shake.",
+    "Shake the medium-sized plastic bottle thoroughly after grabbing it.",
+    "Use the left arm to pick and shake the light gray colored container bottle.",
+    "Use the left arm to hold the smooth surface bottle with gray shade and shake it.",
+    "Hold the milk-bottle shape design, shake it briefly.",
+    "Use the left arm to lift and shake the smooth cylindrical bottle.",
+    "Shake the gray bottle with slight shine after grabbing it.",
+    "Hold the plastic bottle with ghost print with the left arm and shake lightly.",
+    "Lift the medium-sized plastic bottle and shake it gently.",
+    "Use the left arm to grab the medium cylinder-shaped bottle and shake it.",
+    "Pick the smooth surface bottle with gray shade up using the left arm and shake it.",
+    "Lift up the milk-bottle shape design using the left arm, then shake.",
+    "Utilize the left arm to hold the smooth surface bottle with gray shade and shake it.",
+    "Grab the hand-sized bottle with screw cap carefully and shake.",
+    "Take the milk-bottle shape design using the left arm and give it a shake.",
+    "Shake the bottle shaped like small cylinder using the left arm after grabbing.",
+    "Grab the smooth cylindrical bottle and give it a shake.",
+    "Using the left arm, shake the bottle shaped like small cylinder and then place it back.",
+    "Grab the plastic bottle with ghost print and shake it steadily.",
+    "Pick the bottle shaped like small cylinder, shake it with the left arm.",
+    "Shake the gray bottle with slight shine after grabbing it.",
+    "Secure the bottle with cute ghost drawing, shake it, and place it down.",
+    "Hold the gray bottle with slight shine and shake it properly.",
+    "Lift the medium cylinder-shaped bottle with the left arm and shake it.",
+    "Hold and shake the the plastic bottle with ghost print carefully.",
+    "Shake the medium-sized plastic bottle after holding it firmly.",
+    "Grab and shake the bottle shaped like small cylinder using the left arm.",
+    "Hold the hand-sized bottle with screw cap steady, then shake it.",
+    "Pick up the bottle shaped like small cylinder and shake it.",
+    "Grab the smooth surface bottle with gray shade and move it to shake.",
+    "Lift the hand-sized bottle with screw cap and shake it thoroughly.",
+    "Grab the milk-bottle shape design firmly, shake it, and put it down.",
+    "Catch the medium cylinder-shaped bottle and shake it instantly.",
+    "Pick the rounded body bottle made of plastic and perform shaking motion.",
+    "Grip the medium cylinder-shaped bottle using the left arm and shake.",
+    "Use the left arm to lift and shake the medium-sized plastic bottle.",
+    "Shake the smooth surface bottle with gray shade after lifting it.",
+    "Grab the smooth cylindrical bottle with the left arm and shake.",
+    "Use the left arm to lift and shake the light gray colored container bottle.",
+    "Lift the bottle with cute ghost drawing with the left arm and give it a shake.",
+    "Lift the rounded body bottle made of plastic with the left arm and shake.",
+    "Shake the gray bottle with slight shine after grabbing it.",
+    "Shake the the milk-bottle shape design properly after lifting.",
+    "Pick up the medium cylinder-shaped bottle and shake it well.",
+    "Grasp the rounded body bottle made of plastic with the left arm and shake it.",
+    "Grab the medium cylinder-shaped bottle using the left arm, then shake.",
+    "Use the left arm to grab the bottle with cute ghost drawing and shake properly.",
+    "With the left arm, pick the smooth cylindrical bottle and shake properly.",
+    "Secure the plastic bottle with ghost print and perform a shake.",
+    "Shake the hand-sized bottle with screw cap firmly after grabbing.",
+    "Pick the medium cylinder-shaped bottle up with the left arm and shake.",
+    "Shake the hand-sized bottle with screw cap thoroughly after grabbing it.",
+    "Use the left arm to pick and shake the light gray colored container bottle.",
+    "Use the left arm to hold the gray bottle with slight shine and shake it.",
+    "Hold the medium cylinder-shaped bottle, shake it briefly.",
+    "Use the left arm to lift and shake the milk-bottle shape design.",
+    "Shake the medium cylinder-shaped bottle after grabbing it.",
+    "Hold the medium cylinder-shaped bottle with the left arm and shake lightly.",
+    "Lift the smooth cylindrical bottle and shake it gently.",
+    "Use the left arm to grab the gray bottle with slight shine and shake it.",
+    "Pick the smooth cylindrical bottle up using the left arm and shake it.",
+    "Lift up the medium cylinder-shaped bottle using the left arm, then shake.",
+    "Utilize the left arm to hold the medium cylinder-shaped bottle and shake it.",
+    "Grab the bottle shaped like small cylinder carefully and shake.",
+    "Take the smooth surface bottle with gray shade using the left arm and give it a shake.",
+    "Shake the smooth cylindrical bottle using the left arm after grabbing.",
+    "Grab the medium cylinder-shaped bottle and give it a shake.",
+    "Using the left arm, shake the medium-sized plastic bottle and then place it back.",
+    "Grab the plastic bottle with ghost print and shake it steadily.",
+    "Pick the milk-bottle shape design, shake it with the left arm."
+  ],
+  "unseen": [
+    "Shake the bottle with rounded cap top after picking it with the left arm.",
+    "Pick up the light gray bottle and shake it.",
+    "Use the left arm to grab the gray bottle for holding drinks and shake.",
+    "Pick up the bottle with rounded cap top with the left arm and shake.",
+    "Grab the light gray bottle and shake it.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Pick up the light gray bottle and shake it.",
+    "Use the left arm to pick the bottle with rounded cap top.",
+    "Grab the gray bottle for holding drinks and give it a shake.",
+    "Pick and shake the the gray bottle for holding drinks with the left arm.",
+    "Shake the bottle with rounded cap top after picking it with the left arm.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Use the left arm to grab the bottle with rounded cap top and shake.",
+    "Pick up the gray bottle for holding drinks with the left arm and shake.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Pick up the light gray bottle and shake it.",
+    "Use the left arm to pick the gray bottle for holding drinks.",
+    "Grab the gray bottle for holding drinks and give it a shake.",
+    "Pick and shake the the gray bottle for holding drinks with the left arm.",
+    "Shake the light gray bottle after picking it with the left arm.",
+    "Pick up the light gray bottle and shake it.",
+    "Use the left arm to grab the bottle with rounded cap top and shake.",
+    "Pick up the light gray bottle with the left arm and shake.",
+    "Grab the light gray bottle and shake it.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Use the left arm to pick the gray bottle for holding drinks.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Pick and shake the the bottle with rounded cap top with the left arm.",
+    "Shake the light gray bottle after picking it with the left arm.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Use the left arm to grab the light gray bottle and shake.",
+    "Pick up the gray bottle for holding drinks with the left arm and shake.",
+    "Grab the light gray bottle and shake it.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Use the left arm to pick the light gray bottle.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Pick and shake the the bottle with rounded cap top with the left arm.",
+    "Shake the bottle with rounded cap top after picking it with the left arm.",
+    "Pick up the light gray bottle and shake it.",
+    "Use the left arm to grab the gray bottle for holding drinks and shake.",
+    "Pick up the bottle with rounded cap top with the left arm and shake.",
+    "Grab the light gray bottle and shake it.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Use the left arm to pick the gray bottle for holding drinks.",
+    "Grab the light gray bottle and give it a shake.",
+    "Pick and shake the the gray bottle for holding drinks with the left arm.",
+    "Shake the gray bottle for holding drinks after picking it with the left arm.",
+    "Pick up the light gray bottle and shake it.",
+    "Use the left arm to grab the bottle with rounded cap top and shake.",
+    "Pick up the gray bottle for holding drinks with the left arm and shake.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Use the left arm to pick the bottle with rounded cap top.",
+    "Grab the light gray bottle and give it a shake.",
+    "Pick and shake the the gray bottle for holding drinks with the left arm.",
+    "Shake the light gray bottle after picking it with the left arm.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Use the left arm to grab the light gray bottle and shake.",
+    "Pick up the light gray bottle with the left arm and shake.",
+    "Grab the light gray bottle and shake it.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Use the left arm to pick the gray bottle for holding drinks.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Pick and shake the the gray bottle for holding drinks with the left arm.",
+    "Shake the bottle with rounded cap top after picking it with the left arm.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Use the left arm to grab the bottle with rounded cap top and shake.",
+    "Pick up the bottle with rounded cap top with the left arm and shake.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Use the left arm to pick the light gray bottle.",
+    "Grab the light gray bottle and give it a shake.",
+    "Pick and shake the the light gray bottle with the left arm.",
+    "Shake the bottle with rounded cap top after picking it with the left arm.",
+    "Pick up the light gray bottle and shake it.",
+    "Use the left arm to grab the light gray bottle and shake.",
+    "Pick up the bottle with rounded cap top with the left arm and shake.",
+    "Grab the light gray bottle and shake it.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Use the left arm to pick the bottle with rounded cap top.",
+    "Grab the light gray bottle and give it a shake.",
+    "Pick and shake the the light gray bottle with the left arm.",
+    "Shake the gray bottle for holding drinks after picking it with the left arm.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Use the left arm to grab the gray bottle for holding drinks and shake.",
+    "Pick up the light gray bottle with the left arm and shake.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Pick up the light gray bottle and shake it.",
+    "Use the left arm to pick the bottle with rounded cap top.",
+    "Grab the light gray bottle and give it a shake.",
+    "Pick and shake the the bottle with rounded cap top with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002155.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002155.json
new file mode 100644
index 0000000000000000000000000000000000000000..3052ecb4b0947583c57c62164a1650d7f7027e27
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002155.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the smooth plastic bottle and give it a shake.",
+    "Using the right arm, shake the plastic bottle and then place it back.",
+    "Grab and shake the smooth plastic bottle using the right arm.",
+    "Pick the orange bottle and perform shaking motion.",
+    "Utilize the right arm to hold the orange bottle and shake it.",
+    "Shake the bottle with yellow cap thoroughly after grabbing it.",
+    "Lift up the bottle with printed label using the right arm, then shake.",
+    "Use the right arm to lift and shake the cylindrical orange bottle with yellow top.",
+    "Use the right arm to grab the medium-sized orange bottle and shake properly.",
+    "Lift the smooth plastic bottle with the right arm and shake it.",
+    "Hold the orange cylindrical bottle, shake it briefly.",
+    "Secure the medium-sized orange bottle and perform a shake.",
+    "Grab the orange cylindrical bottle with the right arm and shake.",
+    "Lift the yellow-capped plastic bottle and shake it gently.",
+    "Lift the plastic bottle with sealed yellow cap with the right arm and shake.",
+    "Grab the yellow-capped plastic bottle and move it to shake.",
+    "Use the right arm to hold the bottle for liquids and shake it.",
+    "Pick the bottle with narrow neck up using the right arm and shake it.",
+    "Hold and shake the the smooth plastic bottle carefully.",
+    "Use the right arm to pick and shake the bottle with yellow cap.",
+    "Secure the bottle for liquids, shake it, and place it down.",
+    "Use the right arm to lift and shake the bottle for liquids.",
+    "Use the right arm to lift and shake the orange bottle.",
+    "Shake the smooth plastic bottle using the right arm after grabbing.",
+    "Pick up the plastic bottle and shake it.",
+    "Shake the plastic bottle with sealed yellow cap after lifting it.",
+    "With the right arm, pick the medium-sized orange bottle and shake properly.",
+    "Lift the bottle for liquids with the right arm and give it a shake.",
+    "Grasp the plastic bottle with sealed yellow cap with the right arm and shake it.",
+    "Shake the medium-sized orange bottle after holding it firmly.",
+    "Grab the plastic bottle with sealed yellow cap and shake it steadily.",
+    "Shake the the smooth plastic bottle properly after lifting.",
+    "Grab the orange bottle firmly, shake it, and put it down.",
+    "Hold the cylindrical orange bottle with yellow top steady, then shake it.",
+    "Pick the plastic bottle with sealed yellow cap up with the right arm and shake.",
+    "Use the right arm to grab the plastic bottle and shake it.",
+    "Pick up the smooth plastic bottle and shake it well.",
+    "Shake the smooth plastic bottle firmly after grabbing.",
+    "Pick the plastic bottle, shake it with the right arm.",
+    "Hold the orange bottle with the right arm and shake lightly.",
+    "Shake the plastic bottle after grabbing it.",
+    "Grab the medium-sized orange bottle using the right arm, then shake.",
+    "Grip the smooth plastic bottle using the right arm and shake.",
+    "Shake the orange bottle after grabbing it.",
+    "Shake the cylindrical orange bottle with yellow top after grabbing it.",
+    "Take the yellow-capped plastic bottle using the right arm and give it a shake.",
+    "Hold the orange cylindrical bottle and shake it properly.",
+    "Grab the bottle with narrow neck carefully and shake.",
+    "Lift the bottle with narrow neck and shake it thoroughly.",
+    "Catch the yellow-capped plastic bottle and shake it instantly.",
+    "Grab the smooth plastic bottle and give it a shake.",
+    "Using the right arm, shake the orange bottle and then place it back.",
+    "Grab and shake the bottle with yellow cap using the right arm.",
+    "Pick the yellow-capped plastic bottle and perform shaking motion.",
+    "Utilize the right arm to hold the yellow-capped plastic bottle and shake it.",
+    "Shake the bottle with narrow neck thoroughly after grabbing it.",
+    "Lift up the yellow-capped plastic bottle using the right arm, then shake.",
+    "Use the right arm to lift and shake the bottle with yellow cap.",
+    "Use the right arm to grab the bottle with yellow cap and shake properly.",
+    "Lift the cylindrical orange bottle with yellow top with the right arm and shake it.",
+    "Hold the plastic bottle with sealed yellow cap, shake it briefly.",
+    "Secure the medium-sized orange bottle and perform a shake.",
+    "Grab the orange bottle with the right arm and shake.",
+    "Lift the orange cylindrical bottle and shake it gently.",
+    "Lift the bottle with printed label with the right arm and shake.",
+    "Grab the cylindrical orange bottle with yellow top and move it to shake.",
+    "Use the right arm to hold the plastic bottle with sealed yellow cap and shake it.",
+    "Pick the orange bottle up using the right arm and shake it.",
+    "Hold and shake the the bottle with narrow neck carefully.",
+    "Use the right arm to pick and shake the bottle with yellow cap.",
+    "Secure the bottle with yellow cap, shake it, and place it down.",
+    "Use the right arm to lift and shake the bottle with narrow neck.",
+    "Use the right arm to lift and shake the orange cylindrical bottle.",
+    "Shake the orange bottle using the right arm after grabbing.",
+    "Pick up the orange bottle and shake it.",
+    "Shake the cylindrical orange bottle with yellow top after lifting it.",
+    "With the right arm, pick the bottle for liquids and shake properly.",
+    "Lift the medium-sized orange bottle with the right arm and give it a shake.",
+    "Grasp the bottle for liquids with the right arm and shake it.",
+    "Shake the bottle for liquids after holding it firmly.",
+    "Grab the orange cylindrical bottle and shake it steadily.",
+    "Shake the the orange cylindrical bottle properly after lifting.",
+    "Grab the orange bottle firmly, shake it, and put it down.",
+    "Hold the bottle for liquids steady, then shake it.",
+    "Pick the orange bottle up with the right arm and shake.",
+    "Use the right arm to grab the bottle with printed label and shake it.",
+    "Pick up the smooth plastic bottle and shake it well.",
+    "Shake the plastic bottle with sealed yellow cap firmly after grabbing.",
+    "Pick the bottle with yellow cap, shake it with the right arm.",
+    "Hold the bottle for liquids with the right arm and shake lightly.",
+    "Shake the plastic bottle with sealed yellow cap after grabbing it.",
+    "Grab the cylindrical orange bottle with yellow top using the right arm, then shake.",
+    "Grip the orange bottle using the right arm and shake.",
+    "Shake the yellow-capped plastic bottle after grabbing it.",
+    "Shake the plastic bottle after grabbing it.",
+    "Take the yellow-capped plastic bottle using the right arm and give it a shake.",
+    "Hold the yellow-capped plastic bottle and shake it properly.",
+    "Grab the bottle with narrow neck carefully and shake.",
+    "Lift the bottle with yellow cap and shake it thoroughly.",
+    "Catch the bottle with printed label and shake it instantly."
+  ],
+  "unseen": [
+    "Shake the orange bottle with smooth texture after picking it with the right arm.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Grab the handheld orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake.",
+    "Use the right arm to grab the handheld orange bottle and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Shake the label-covered orange bottle after picking it with the right arm.",
+    "Use the right arm to pick the orange bottle with smooth texture.",
+    "Pick and shake the the orange bottle with smooth texture with the right arm.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the label-covered orange bottle with the right arm and shake.",
+    "Use the right arm to grab the orange bottle with smooth texture and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake.",
+    "Use the right arm to grab the label-covered orange bottle and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Shake the orange bottle with smooth texture after picking it with the right arm.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Pick and shake the the orange bottle with smooth texture with the right arm.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake.",
+    "Use the right arm to grab the orange bottle with smooth texture and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Shake the orange bottle with smooth texture after picking it with the right arm.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Pick and shake the the orange bottle with smooth texture with the right arm.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Grab the handheld orange bottle and shake it.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake.",
+    "Use the right arm to grab the label-covered orange bottle and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Shake the orange bottle with smooth texture after picking it with the right arm.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Pick and shake the the label-covered orange bottle with the right arm.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the label-covered orange bottle with the right arm and shake.",
+    "Use the right arm to grab the label-covered orange bottle and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Use the right arm to pick the orange bottle with smooth texture.",
+    "Pick and shake the the label-covered orange bottle with the right arm.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake.",
+    "Use the right arm to grab the label-covered orange bottle and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Shake the orange bottle with smooth texture after picking it with the right arm.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Pick and shake the the label-covered orange bottle with the right arm.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick up the label-covered orange bottle with the right arm and shake.",
+    "Use the right arm to grab the handheld orange bottle and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the label-covered orange bottle with the right arm and shake.",
+    "Use the right arm to grab the handheld orange bottle and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Use the right arm to pick the orange bottle with smooth texture.",
+    "Pick and shake the the orange bottle with smooth texture with the right arm.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the label-covered orange bottle with the right arm and shake.",
+    "Use the right arm to grab the handheld orange bottle and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the label-covered orange bottle and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002181.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002181.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb2ac41c34261193b647da924a77c36f19d1ec41
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002181.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grasp the bottle shaped like small cylinder with the left arm and shake it.",
+    "Use the left arm to grab the smooth surface bottle with gray shade and shake properly.",
+    "Pick up the rounded body bottle made of plastic and shake it well.",
+    "Hold the bottle with cute ghost drawing, shake it briefly.",
+    "Grab the medium-sized plastic bottle with the left arm and shake.",
+    "Use the left arm to lift and shake the light gray colored container bottle.",
+    "Pick the rounded body bottle made of plastic and perform shaking motion.",
+    "Shake the smooth cylindrical bottle firmly after grabbing.",
+    "With the left arm, pick the rounded body bottle made of plastic and shake properly.",
+    "Grab the smooth surface bottle with gray shade carefully and shake.",
+    "Hold the smooth surface bottle with gray shade steady, then shake it.",
+    "Using the left arm, shake the bottle with cute ghost drawing and then place it back.",
+    "Shake the gray bottle with slight shine using the left arm after grabbing.",
+    "Pick the plastic bottle with ghost print up with the left arm and shake.",
+    "Lift the rounded body bottle made of plastic with the left arm and shake it.",
+    "Catch the light gray colored container bottle and shake it instantly.",
+    "Shake the bottle with cute ghost drawing after grabbing it.",
+    "Lift up the medium cylinder-shaped bottle using the left arm, then shake.",
+    "Secure the rounded body bottle made of plastic and perform a shake.",
+    "Secure the milk-bottle shape design, shake it, and place it down.",
+    "Lift the rounded body bottle made of plastic with the left arm and shake.",
+    "Shake the bottle shaped like small cylinder after holding it firmly.",
+    "Pick the rounded body bottle made of plastic up using the left arm and shake it.",
+    "Use the left arm to grab the bottle with cute ghost drawing and shake it.",
+    "Use the left arm to lift and shake the bottle shaped like small cylinder.",
+    "Lift the rounded body bottle made of plastic and shake it gently.",
+    "Grab the gray bottle with slight shine using the left arm, then shake.",
+    "Hold the medium-sized plastic bottle with the left arm and shake lightly.",
+    "Grab the medium-sized plastic bottle firmly, shake it, and put it down.",
+    "Grab the bottle with cute ghost drawing and move it to shake.",
+    "Pick up the bottle shaped like small cylinder and shake it.",
+    "Lift the bottle with cute ghost drawing and shake it thoroughly.",
+    "Use the left arm to pick and shake the gray bottle with slight shine.",
+    "Grab the hand-sized bottle with screw cap and give it a shake.",
+    "Grab the medium-sized plastic bottle and shake it steadily.",
+    "Hold the milk-bottle shape design and shake it properly.",
+    "Shake the the milk-bottle shape design properly after lifting.",
+    "Hold and shake the the bottle with cute ghost drawing carefully.",
+    "Lift the gray bottle with slight shine with the left arm and give it a shake.",
+    "Grab and shake the plastic bottle with ghost print using the left arm.",
+    "Utilize the left arm to hold the light gray colored container bottle and shake it.",
+    "Shake the smooth surface bottle with gray shade after grabbing it.",
+    "Shake the rounded body bottle made of plastic after grabbing it.",
+    "Grip the hand-sized bottle with screw cap using the left arm and shake.",
+    "Shake the medium cylinder-shaped bottle thoroughly after grabbing it.",
+    "Pick the smooth cylindrical bottle, shake it with the left arm.",
+    "Use the left arm to hold the rounded body bottle made of plastic and shake it.",
+    "Take the rounded body bottle made of plastic using the left arm and give it a shake.",
+    "Use the left arm to lift and shake the bottle with cute ghost drawing.",
+    "Shake the medium-sized plastic bottle after lifting it.",
+    "Grasp the milk-bottle shape design with the left arm and shake it.",
+    "Use the left arm to grab the medium cylinder-shaped bottle and shake properly.",
+    "Pick up the gray bottle with slight shine and shake it well.",
+    "Hold the medium-sized plastic bottle, shake it briefly.",
+    "Grab the bottle with cute ghost drawing with the left arm and shake.",
+    "Use the left arm to lift and shake the plastic bottle with ghost print.",
+    "Pick the bottle with cute ghost drawing and perform shaking motion.",
+    "Shake the rounded body bottle made of plastic firmly after grabbing.",
+    "With the left arm, pick the plastic bottle with ghost print and shake properly.",
+    "Grab the plastic bottle with ghost print carefully and shake.",
+    "Hold the medium-sized plastic bottle steady, then shake it.",
+    "Using the left arm, shake the smooth surface bottle with gray shade and then place it back.",
+    "Shake the medium cylinder-shaped bottle using the left arm after grabbing.",
+    "Pick the plastic bottle with ghost print up with the left arm and shake.",
+    "Lift the bottle with cute ghost drawing with the left arm and shake it.",
+    "Catch the bottle with cute ghost drawing and shake it instantly.",
+    "Shake the medium cylinder-shaped bottle after grabbing it.",
+    "Lift up the smooth cylindrical bottle using the left arm, then shake.",
+    "Secure the smooth cylindrical bottle and perform a shake.",
+    "Secure the milk-bottle shape design, shake it, and place it down.",
+    "Lift the light gray colored container bottle with the left arm and shake.",
+    "Shake the smooth cylindrical bottle after holding it firmly.",
+    "Pick the smooth surface bottle with gray shade up using the left arm and shake it.",
+    "Use the left arm to grab the smooth cylindrical bottle and shake it.",
+    "Use the left arm to lift and shake the bottle shaped like small cylinder.",
+    "Lift the hand-sized bottle with screw cap and shake it gently.",
+    "Grab the rounded body bottle made of plastic using the left arm, then shake.",
+    "Hold the gray bottle with slight shine with the left arm and shake lightly.",
+    "Grab the bottle with cute ghost drawing firmly, shake it, and put it down.",
+    "Grab the milk-bottle shape design and move it to shake.",
+    "Pick up the light gray colored container bottle and shake it.",
+    "Lift the light gray colored container bottle and shake it thoroughly.",
+    "Use the left arm to pick and shake the bottle shaped like small cylinder.",
+    "Grab the hand-sized bottle with screw cap and give it a shake.",
+    "Grab the plastic bottle with ghost print and shake it steadily.",
+    "Hold the medium cylinder-shaped bottle and shake it properly.",
+    "Shake the the smooth surface bottle with gray shade properly after lifting.",
+    "Hold and shake the the light gray colored container bottle carefully.",
+    "Lift the bottle shaped like small cylinder with the left arm and give it a shake.",
+    "Grab and shake the milk-bottle shape design using the left arm.",
+    "Utilize the left arm to hold the plastic bottle with ghost print and shake it.",
+    "Shake the medium cylinder-shaped bottle after grabbing it.",
+    "Shake the hand-sized bottle with screw cap after grabbing it.",
+    "Grip the medium-sized plastic bottle using the left arm and shake.",
+    "Shake the medium cylinder-shaped bottle thoroughly after grabbing it.",
+    "Pick the smooth surface bottle with gray shade, shake it with the left arm.",
+    "Use the left arm to hold the medium-sized plastic bottle and shake it.",
+    "Take the light gray colored container bottle using the left arm and give it a shake.",
+    "Use the left arm to lift and shake the medium cylinder-shaped bottle.",
+    "Shake the smooth cylindrical bottle after lifting it."
+  ],
+  "unseen": [
+    "Grab the light gray bottle and give it a shake.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Pick up the bottle with rounded cap top with the left arm and shake.",
+    "Use the left arm to grab the bottle with rounded cap top and shake.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Pick and shake the the light gray bottle with the left arm.",
+    "Use the left arm to pick the bottle with rounded cap top.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Shake the light gray bottle after picking it with the left arm.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Pick up the light gray bottle with the left arm and shake.",
+    "Use the left arm to grab the light gray bottle and shake.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Pick and shake the the bottle with rounded cap top with the left arm.",
+    "Use the left arm to pick the gray bottle for holding drinks.",
+    "Grab the light gray bottle and shake it.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Shake the gray bottle for holding drinks after picking it with the left arm.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Pick up the gray bottle for holding drinks with the left arm and shake.",
+    "Use the left arm to grab the light gray bottle and shake.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Pick and shake the the gray bottle for holding drinks with the left arm.",
+    "Use the left arm to pick the bottle with rounded cap top.",
+    "Grab the light gray bottle and shake it.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Shake the bottle with rounded cap top after picking it with the left arm.",
+    "Grab the gray bottle for holding drinks and give it a shake.",
+    "Pick up the light gray bottle and shake it.",
+    "Pick up the gray bottle for holding drinks with the left arm and shake.",
+    "Use the left arm to grab the light gray bottle and shake.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Pick and shake the the light gray bottle with the left arm.",
+    "Use the left arm to pick the gray bottle for holding drinks.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Pick up the light gray bottle and shake it.",
+    "Shake the bottle with rounded cap top after picking it with the left arm.",
+    "Grab the light gray bottle and give it a shake.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Pick up the gray bottle for holding drinks with the left arm and shake.",
+    "Use the left arm to grab the bottle with rounded cap top and shake.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Pick and shake the the gray bottle for holding drinks with the left arm.",
+    "Use the left arm to pick the gray bottle for holding drinks.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Shake the light gray bottle after picking it with the left arm.",
+    "Grab the light gray bottle and give it a shake.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Pick up the gray bottle for holding drinks with the left arm and shake.",
+    "Use the left arm to grab the light gray bottle and shake.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Pick and shake the the light gray bottle with the left arm.",
+    "Use the left arm to pick the bottle with rounded cap top.",
+    "Grab the light gray bottle and shake it.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Shake the gray bottle for holding drinks after picking it with the left arm.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Pick up the light gray bottle and shake it.",
+    "Pick up the bottle with rounded cap top with the left arm and shake.",
+    "Use the left arm to grab the light gray bottle and shake.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Pick and shake the the bottle with rounded cap top with the left arm.",
+    "Use the left arm to pick the light gray bottle.",
+    "Grab the light gray bottle and shake it.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Shake the light gray bottle after picking it with the left arm.",
+    "Grab the light gray bottle and give it a shake.",
+    "Pick up the light gray bottle and shake it.",
+    "Pick up the bottle with rounded cap top with the left arm and shake.",
+    "Use the left arm to grab the bottle with rounded cap top and shake.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Pick and shake the the gray bottle for holding drinks with the left arm.",
+    "Use the left arm to pick the bottle with rounded cap top.",
+    "Grab the light gray bottle and shake it.",
+    "Pick up the light gray bottle and shake it.",
+    "Shake the gray bottle for holding drinks after picking it with the left arm.",
+    "Grab the light gray bottle and give it a shake.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Pick up the light gray bottle with the left arm and shake.",
+    "Use the left arm to grab the gray bottle for holding drinks and shake.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Pick and shake the the bottle with rounded cap top with the left arm.",
+    "Use the left arm to pick the gray bottle for holding drinks.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Shake the light gray bottle after picking it with the left arm.",
+    "Grab the light gray bottle and give it a shake.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Pick up the light gray bottle with the left arm and shake.",
+    "Use the left arm to grab the gray bottle for holding drinks and shake.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Pick and shake the the gray bottle for holding drinks with the left arm.",
+    "Use the left arm to pick the light gray bottle.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Shake the bottle with rounded cap top after picking it with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002222.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002222.json
new file mode 100644
index 0000000000000000000000000000000000000000..26f99ac253c6241b84fa4bb6574720e29ff8920e
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002222.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the cylindrical orange plastic bottle and perform a shake.",
+    "Pick the orange drink bottle with label up with the right arm and shake.",
+    "Hold the smooth orange bottle, shake it briefly.",
+    "Shake the curved orange soda bottle after grabbing it.",
+    "Shake the grooved orange drink bottle firmly after grabbing.",
+    "With the right arm, pick the medium bottle with colorful label and shake properly.",
+    "Take the orange drink bottle with label using the right arm and give it a shake.",
+    "Lift the grooved orange drink bottle and shake it gently.",
+    "Use the right arm to lift and shake the curved orange soda bottle.",
+    "Using the right arm, shake the orange drink bottle with label and then place it back.",
+    "Pick up the orange drink bottle with label and shake it.",
+    "Shake the bottle for holding drinks using the right arm after grabbing.",
+    "Grab the cylindrical orange plastic bottle with the right arm and shake.",
+    "Lift the round-bottom bottle with white cap with the right arm and shake it.",
+    "Grab the light and medium-sized bottle carefully and shake.",
+    "Grab the cylindrical orange plastic bottle using the right arm, then shake.",
+    "Grab the curved orange soda bottle and shake it steadily.",
+    "Use the right arm to grab the plastic bottle and shake properly.",
+    "Utilize the right arm to hold the medium bottle with colorful label and shake it.",
+    "Lift the orange drink bottle with label and shake it thoroughly.",
+    "Hold and shake the the bottle for holding drinks carefully.",
+    "Use the right arm to pick and shake the orange drink bottle with label.",
+    "Use the right arm to lift and shake the orange bottle.",
+    "Lift the orange drink bottle with label with the right arm and give it a shake.",
+    "Grip the orange drink bottle with label using the right arm and shake.",
+    "Pick the light and medium-sized bottle up using the right arm and shake it.",
+    "Grab the round-bottom bottle with white cap and give it a shake.",
+    "Lift the plastic bottle with the right arm and shake.",
+    "Hold the smooth orange bottle steady, then shake it.",
+    "Shake the the round-bottom bottle with white cap properly after lifting.",
+    "Use the right arm to lift and shake the light and medium-sized bottle.",
+    "Shake the plastic bottle after lifting it.",
+    "Pick the smooth orange bottle, shake it with the right arm.",
+    "Shake the grooved orange drink bottle after grabbing it.",
+    "Use the right arm to hold the light and medium-sized bottle and shake it.",
+    "Catch the plastic bottle and shake it instantly.",
+    "Grab and shake the cylindrical orange plastic bottle using the right arm.",
+    "Pick up the curved orange soda bottle and shake it well.",
+    "Shake the orange drink bottle with label after grabbing it.",
+    "Hold the plastic bottle with the right arm and shake lightly.",
+    "Lift up the ridged orange bottle with grooves using the right arm, then shake.",
+    "Shake the ridged orange bottle with grooves thoroughly after grabbing it.",
+    "Grab the cylindrical orange plastic bottle and move it to shake.",
+    "Shake the bottle for holding drinks after holding it firmly.",
+    "Secure the orange drink bottle with label, shake it, and place it down.",
+    "Grab the cylindrical orange plastic bottle firmly, shake it, and put it down.",
+    "Use the right arm to grab the orange bottle and shake it.",
+    "Grasp the ridged orange bottle with grooves with the right arm and shake it.",
+    "Hold the medium bottle with colorful label and shake it properly.",
+    "Pick the ridged orange bottle with grooves and perform shaking motion.",
+    "Secure the orange drink bottle with label and perform a shake.",
+    "Pick the light and medium-sized bottle up with the right arm and shake.",
+    "Hold the orange bottle, shake it briefly.",
+    "Shake the plastic bottle after grabbing it.",
+    "Shake the ridged orange bottle with grooves firmly after grabbing.",
+    "With the right arm, pick the cylindrical orange plastic bottle and shake properly.",
+    "Take the bottle for holding drinks using the right arm and give it a shake.",
+    "Lift the ridged orange bottle with grooves and shake it gently.",
+    "Use the right arm to lift and shake the bottle for holding drinks.",
+    "Using the right arm, shake the bottle for holding drinks and then place it back.",
+    "Pick up the smooth orange bottle and shake it.",
+    "Shake the bottle for holding drinks using the right arm after grabbing.",
+    "Grab the round-bottom bottle with white cap with the right arm and shake.",
+    "Lift the orange bottle with the right arm and shake it.",
+    "Grab the light and medium-sized bottle carefully and shake.",
+    "Grab the smooth orange bottle using the right arm, then shake.",
+    "Grab the smooth orange bottle and shake it steadily.",
+    "Use the right arm to grab the orange drink bottle with label and shake properly.",
+    "Utilize the right arm to hold the medium bottle with colorful label and shake it.",
+    "Lift the grooved orange drink bottle and shake it thoroughly.",
+    "Hold and shake the the smooth orange bottle carefully.",
+    "Use the right arm to pick and shake the plastic bottle.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Lift the orange bottle with the right arm and give it a shake.",
+    "Grip the ridged orange bottle with grooves using the right arm and shake.",
+    "Pick the plastic bottle up using the right arm and shake it.",
+    "Grab the bottle for holding drinks and give it a shake.",
+    "Lift the orange bottle with the right arm and shake.",
+    "Hold the light and medium-sized bottle steady, then shake it.",
+    "Shake the the round-bottom bottle with white cap properly after lifting.",
+    "Use the right arm to lift and shake the light and medium-sized bottle.",
+    "Shake the curved orange soda bottle after lifting it.",
+    "Pick the grooved orange drink bottle, shake it with the right arm.",
+    "Shake the orange drink bottle with label after grabbing it.",
+    "Use the right arm to hold the medium bottle with colorful label and shake it.",
+    "Catch the curved orange soda bottle and shake it instantly.",
+    "Grab and shake the orange bottle using the right arm.",
+    "Pick up the ridged orange bottle with grooves and shake it well.",
+    "Shake the orange bottle after grabbing it.",
+    "Hold the smooth orange bottle with the right arm and shake lightly.",
+    "Lift up the cylindrical orange plastic bottle using the right arm, then shake.",
+    "Shake the ridged orange bottle with grooves thoroughly after grabbing it.",
+    "Grab the round-bottom bottle with white cap and move it to shake.",
+    "Shake the plastic bottle after holding it firmly.",
+    "Secure the plastic bottle, shake it, and place it down.",
+    "Grab the plastic bottle firmly, shake it, and put it down.",
+    "Use the right arm to grab the orange drink bottle with label and shake it.",
+    "Grasp the curved orange soda bottle with the right arm and shake it.",
+    "Hold the bottle for holding drinks and shake it properly.",
+    "Pick the plastic bottle and perform shaking motion."
+  ],
+  "unseen": [
+    "Pick and shake the the bottle with ridged orange grip with the right arm.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Use the right arm to grab the bottle with white cap and shake.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with ridged orange grip with the right arm and shake.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "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 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 ridged orange grip and give it a shake.",
+    "Use the right arm to grab the white capped orange plastic bottle and shake.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Grab the bottle with white cap and shake it.",
+    "Pick up the white capped orange plastic bottle with the right arm and shake.",
+    "Use the right arm to pick the bottle with ridged orange grip.",
+    "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 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 ridged orange grip and give it a shake.",
+    "Use the right arm to grab the white capped orange plastic bottle and shake.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Pick up the white capped orange plastic bottle with the right arm and shake.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "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 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 ridged orange grip and give it a shake.",
+    "Use the right arm to grab the bottle with white cap and shake.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with white cap with the right arm and shake.",
+    "Use the right arm to pick the bottle with white cap.",
+    "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 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 bottle with white cap and give it a shake.",
+    "Use the right arm to grab the bottle with ridged orange grip and shake.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with ridged orange grip with the right arm and shake.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "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 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 bottle with white cap and give it a shake.",
+    "Use the right arm to grab the white capped orange plastic bottle and shake.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with white cap with the right arm and shake.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "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 up the bottle with ridged orange grip and shake it.",
+    "Pick and shake the the bottle with ridged orange grip with the right arm.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Use the right arm to grab the white capped orange plastic bottle and shake.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Grab the bottle with white cap and shake it.",
+    "Pick up the bottle with white cap with the right arm and shake.",
+    "Use the right arm to pick the bottle with white cap.",
+    "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 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 ridged orange grip and give it a shake.",
+    "Use the right arm to grab the bottle with ridged orange grip and shake.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Grab the bottle with white cap and shake it.",
+    "Pick up the white capped orange plastic bottle with the right arm and shake.",
+    "Use the right arm to pick the bottle with white cap.",
+    "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 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 give it a shake.",
+    "Use the right arm to grab the white capped orange plastic bottle and shake.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Grab the bottle with white cap and shake it.",
+    "Pick up the bottle with ridged orange grip with the right arm and shake.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "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 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 white capped orange plastic bottle and give it a shake.",
+    "Use the right arm to grab the bottle with ridged orange grip and shake.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Grab the bottle with white cap and shake it.",
+    "Pick up the bottle with ridged orange grip with the right arm and shake.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "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 up the bottle with ridged orange grip and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002262.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002262.json
new file mode 100644
index 0000000000000000000000000000000000000000..76a8fb6af29cd3815b59506b2258f4cc5ac288a1
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002262.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the brown bottle with rounded rectangular shape after grabbing it.",
+    "Shake the plastic bottle after grabbing it.",
+    "Grasp the medium-sized brown plastic bottle with the right arm and shake it.",
+    "Shake the the bottle with flat sides and logo properly after lifting.",
+    "Pick up the bottle with green cap and shake it well.",
+    "Pick up the rectangular brown body with white top and shake it.",
+    "Secure the bottle with green cap and perform a shake.",
+    "Catch the medium bottle with glossy surface and shake it instantly.",
+    "Use the right arm to pick and shake the bottle with green cap.",
+    "Grab the bottle with flat sides and logo and shake it steadily.",
+    "Hold the plastic bottle, shake it briefly.",
+    "Use the right arm to lift and shake the bottle with green cap.",
+    "Shake the rectangular brown body with white top after lifting it.",
+    "Pick the rectangular brown body with white top up with the right arm and shake.",
+    "Grab the brown bottle carefully and shake.",
+    "Grab the medium-sized brown plastic bottle with the right arm and shake.",
+    "Hold and shake the the rectangular-shaped bottle with round cap carefully.",
+    "Lift the rectangular brown body with white top with the right arm and shake.",
+    "Shake the plastic bottle after holding it firmly.",
+    "Shake the medium bottle with glossy surface using the right arm after grabbing.",
+    "Lift the rectangular brown body with white top and shake it thoroughly.",
+    "Use the right arm to grab the dark brown bottle with a squared body and shake it.",
+    "Grab the dark brown bottle with a squared body firmly, shake it, and put it down.",
+    "Use the right arm to hold the smooth brown bottle with green label and shake it.",
+    "Shake the dark brown bottle with a squared body firmly after grabbing.",
+    "Take the medium-sized brown plastic bottle using the right arm and give it a shake.",
+    "Shake the bottle with green cap thoroughly after grabbing it.",
+    "Lift the bottle with green cap with the right arm and give it a shake.",
+    "Hold the brown bottle and shake it properly.",
+    "Grab the brown bottle using the right arm, then shake.",
+    "Pick the plastic bottle, shake it with the right arm.",
+    "Lift the dark brown bottle with a squared body with the right arm and shake it.",
+    "Using the right arm, shake the dark brown bottle with a squared body and then place it back.",
+    "Shake the rectangular-shaped bottle with round cap after grabbing it.",
+    "Grab and shake the brown bottle with rounded rectangular shape using the right arm.",
+    "Grip the bottle with flat sides and logo using the right arm and shake.",
+    "Pick the dark brown bottle with a squared body up using the right arm and shake it.",
+    "Utilize the right arm to hold the bottle with flat sides and logo and shake it.",
+    "Pick the dark brown bottle with a squared body and perform shaking motion.",
+    "With the right arm, pick the brown bottle with rounded rectangular shape and shake properly.",
+    "Grab the rectangular brown body with white top and move it to shake.",
+    "Use the right arm to grab the rectangular brown body with white top and shake properly.",
+    "Use the right arm to lift and shake the brown bottle.",
+    "Use the right arm to lift and shake the brown bottle with rounded rectangular shape.",
+    "Grab the brown bottle and give it a shake.",
+    "Lift the smooth plastic bottle with white cap and shake it gently.",
+    "Hold the medium bottle with glossy surface steady, then shake it.",
+    "Hold the bottle with flat sides and logo with the right arm and shake lightly.",
+    "Secure the bottle with flat sides and logo, shake it, and place it down.",
+    "Lift up the bottle with flat sides and logo using the right arm, then shake.",
+    "Shake the medium bottle with glossy surface after grabbing it.",
+    "Shake the rectangular-shaped bottle with round cap after grabbing it.",
+    "Grasp the bottle with flat sides and logo with the right arm and shake it.",
+    "Shake the the bottle with green cap properly after lifting.",
+    "Pick up the dark brown bottle with a squared body and shake it well.",
+    "Pick up the medium bottle with glossy surface and shake it.",
+    "Secure the bottle with green cap and perform a shake.",
+    "Catch the rectangular brown body with white top and shake it instantly.",
+    "Use the right arm to pick and shake the plastic bottle.",
+    "Grab the rectangular brown body with white top and shake it steadily.",
+    "Hold the bottle with flat sides and logo, shake it briefly.",
+    "Use the right arm to lift and shake the rectangular brown body with white top.",
+    "Shake the rectangular brown body with white top after lifting it.",
+    "Pick the bottle with flat sides and logo up with the right arm and shake.",
+    "Grab the smooth plastic bottle with white cap carefully and shake.",
+    "Grab the rectangular-shaped bottle with round cap with the right arm and shake.",
+    "Hold and shake the the smooth plastic bottle with white cap carefully.",
+    "Lift the smooth plastic bottle with white cap with the right arm and shake.",
+    "Shake the dark brown bottle with a squared body after holding it firmly.",
+    "Shake the smooth plastic bottle with white cap using the right arm after grabbing.",
+    "Lift the smooth plastic bottle with white cap and shake it thoroughly.",
+    "Use the right arm to grab the brown bottle with rounded rectangular shape and shake it.",
+    "Grab the dark brown bottle with a squared body firmly, shake it, and put it down.",
+    "Use the right arm to hold the smooth brown bottle with green label and shake it.",
+    "Shake the bottle with flat sides and logo firmly after grabbing.",
+    "Take the rectangular-shaped bottle with round cap using the right arm and give it a shake.",
+    "Shake the plastic bottle thoroughly after grabbing it.",
+    "Lift the dark brown bottle with a squared body with the right arm and give it a shake.",
+    "Hold the brown bottle with rounded rectangular shape and shake it properly.",
+    "Grab the smooth plastic bottle with white cap using the right arm, then shake.",
+    "Pick the smooth plastic bottle with white cap, shake it with the right arm.",
+    "Lift the medium bottle with glossy surface with the right arm and shake it.",
+    "Using the right arm, shake the smooth plastic bottle with white cap and then place it back.",
+    "Shake the smooth plastic bottle with white cap after grabbing it.",
+    "Grab and shake the rectangular brown body with white top using the right arm.",
+    "Grip the medium bottle with glossy surface using the right arm and shake.",
+    "Pick the brown bottle up using the right arm and shake it.",
+    "Utilize the right arm to hold the smooth plastic bottle with white cap and shake it.",
+    "Pick the plastic bottle and perform shaking motion.",
+    "With the right arm, pick the bottle with flat sides and logo and shake properly.",
+    "Grab the smooth plastic bottle with white cap and move it to shake.",
+    "Use the right arm to grab the brown bottle and shake properly.",
+    "Use the right arm to lift and shake the smooth brown bottle with green label.",
+    "Use the right arm to lift and shake the bottle with flat sides and logo.",
+    "Grab the plastic bottle and give it a shake.",
+    "Lift the rectangular brown body with white top and shake it gently.",
+    "Hold the medium bottle with glossy surface steady, then shake it.",
+    "Hold the dark brown bottle with a squared body with the right arm and shake lightly.",
+    "Secure the smooth plastic bottle with white cap, shake it, and place it down.",
+    "Lift up the smooth plastic bottle with white cap using the right arm, then shake."
+  ],
+  "unseen": [
+    "Use the right arm to pick the medium-sized plastic bottle with capped top.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the liquid container dark brown plastic with the right arm and shake.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Shake the liquid container dark brown plastic after picking it with the right arm.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Use the right arm to grab the bottle with green label and white lid and shake.",
+    "Use the right arm to pick the bottle with green label and white lid.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Pick and shake the the liquid container dark brown plastic with the right arm.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Pick up the liquid container dark brown plastic with the right arm and shake.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Use the right arm to pick the liquid container dark brown plastic.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the bottle with green label and white lid with the right arm and shake.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Shake the bottle with green label and white lid after picking it with the right arm.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Grab the medium-sized plastic bottle with capped top and give it a shake.",
+    "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Use the right arm to pick the liquid container dark brown plastic.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Pick and shake the the liquid container dark brown plastic with the right arm.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Grab the medium-sized plastic bottle with capped top and give it a shake.",
+    "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Use the right arm to pick the liquid container dark brown plastic.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Pick and shake the the bottle with green label and white lid with the right arm.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the liquid container dark brown plastic with the right arm and shake.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Shake the bottle with green label and white lid after picking it with the right arm.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Grab the medium-sized plastic bottle with capped top and give it a shake.",
+    "Use the right arm to grab the bottle with green label and white lid and shake.",
+    "Use the right arm to pick the medium-sized plastic bottle with capped top.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the bottle with green label and white lid with the right arm and shake.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Use the right arm to pick the bottle with green label and white lid.",
+    "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the bottle with green label and white lid with the right arm and shake.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Shake the liquid container dark brown plastic after picking it with the right arm.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Use the right arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Use the right arm to pick the medium-sized plastic bottle with capped top.",
+    "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.",
+    "Pick and shake the the liquid container dark brown plastic with the right arm.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the liquid container dark brown plastic with the right arm and shake.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Shake the liquid container dark brown plastic after picking it with the right arm.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the medium-sized plastic bottle with capped top and give it a shake.",
+    "Use the right arm to grab the bottle with green label and white lid and shake.",
+    "Use the right arm to pick the bottle with green label and white lid.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the right arm.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top with the right arm and shake.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Use the right arm to grab the bottle with green label and white lid and shake.",
+    "Use the right arm to pick the liquid container dark brown plastic.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Pick and shake the the liquid container dark brown plastic with the right arm.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Pick up the liquid container dark brown plastic with the right arm and shake.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the right arm.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the medium-sized plastic bottle with capped top and give it a shake.",
+    "Use the right arm to grab the liquid container dark brown plastic and shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002284.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002284.json
new file mode 100644
index 0000000000000000000000000000000000000000..17218327e336aabeb95bf5723d9542677a3c746a
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002284.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift up the yellow container with rounded edges using the left arm, then shake.",
+    "Lift the smooth bottle with rounded edges with the left arm and shake it.",
+    "Pick up the rectangular bottle with cylindrical neck and shake it well.",
+    "Secure the rectangular bottle with cylindrical neck and perform a shake.",
+    "Shake the smooth bottle with rounded edges firmly after grabbing.",
+    "Take the bottle with a smooth plastic body using the left arm and give it a shake.",
+    "Hold the yellow bottle with a green design steady, then shake it.",
+    "Lift the yellow container with rounded edges with the left arm and give it a shake.",
+    "Utilize the left arm to hold the medium rectangular yellow bottle and shake it.",
+    "Shake the the yellow container with rounded edges properly after lifting.",
+    "Pick the bottle with green and white labels and perform shaking motion.",
+    "With the left arm, pick the bottle with white cap and shake properly.",
+    "Use the left arm to grab the yellow bottle with a green design and shake it.",
+    "Shake the yellow plastic bottle with white top after holding it firmly.",
+    "Secure the yellow plastic bottle with white top, shake it, and place it down.",
+    "Hold the bottle with green label, shake it briefly.",
+    "Grab the bottle with a smooth plastic body using the left arm, then shake.",
+    "Use the left arm to pick and shake the yellow bottle with a green design.",
+    "Use the left arm to lift and shake the rectangular bottle with cylindrical neck.",
+    "Pick the smooth bottle with rounded edges up using the left arm and shake it.",
+    "Grab the plastic bottle with the left arm and shake.",
+    "Grab the smooth bottle with rounded edges and shake it steadily.",
+    "Shake the bottle with a smooth plastic body thoroughly after grabbing it.",
+    "Use the left arm to grab the bottle with green label and shake properly.",
+    "Lift the smooth bottle with rounded edges and shake it thoroughly.",
+    "Grab the yellow container with rounded edges carefully and shake.",
+    "Pick the bottle with green and white labels, shake it with the left arm.",
+    "Grip the bottle with green and white labels using the left arm and shake.",
+    "Shake the yellow plastic bottle with white top after grabbing it.",
+    "Using the left arm, shake the bottle with green label and then place it back.",
+    "Shake the rectangular bottle with cylindrical neck after grabbing it.",
+    "Grab and shake the medium rectangular yellow bottle using the left arm.",
+    "Use the left arm to lift and shake the yellow plastic bottle with white top.",
+    "Shake the bottle with white cap using the left arm after grabbing.",
+    "Hold and shake the the yellow bottle carefully.",
+    "Hold the smooth bottle with rounded edges with the left arm and shake lightly.",
+    "Pick the bottle with a smooth plastic body up with the left arm and shake.",
+    "Lift the rectangular bottle with cylindrical neck and shake it gently.",
+    "Shake the bottle with green and white labels after grabbing it.",
+    "Shake the yellow bottle with a green design after lifting it.",
+    "Hold the yellow container with rounded edges and shake it properly.",
+    "Grab the bottle with a smooth plastic body firmly, shake it, and put it down.",
+    "Catch the smooth bottle with rounded edges and shake it instantly.",
+    "Grasp the bottle with white cap with the left arm and shake it.",
+    "Use the left arm to hold the bottle with white cap and shake it.",
+    "Grab the bottle with a smooth plastic body and move it to shake.",
+    "Grab the yellow container with rounded edges and give it a shake.",
+    "Use the left arm to lift and shake the yellow container with rounded edges.",
+    "Pick up the bottle with green and white labels and shake it.",
+    "Lift the bottle with a smooth plastic body with the left arm and shake.",
+    "Lift up the yellow bottle using the left arm, then shake.",
+    "Lift the bottle with white cap with the left arm and shake it.",
+    "Pick up the smooth bottle with rounded edges and shake it well.",
+    "Secure the bottle with green and white labels and perform a shake.",
+    "Shake the rectangular bottle with cylindrical neck firmly after grabbing.",
+    "Take the rectangular bottle with cylindrical neck using the left arm and give it a shake.",
+    "Hold the bottle with green label steady, then shake it.",
+    "Lift the yellow bottle with the left arm and give it a shake.",
+    "Utilize the left arm to hold the medium rectangular yellow bottle and shake it.",
+    "Shake the the plastic bottle properly after lifting.",
+    "Pick the plastic bottle and perform shaking motion.",
+    "With the left arm, pick the smooth bottle with rounded edges and shake properly.",
+    "Use the left arm to grab the medium rectangular yellow bottle and shake it.",
+    "Shake the bottle with green label after holding it firmly.",
+    "Secure the bottle with green and white labels, shake it, and place it down.",
+    "Hold the yellow container with rounded edges, shake it briefly.",
+    "Grab the yellow plastic bottle with white top using the left arm, then shake.",
+    "Use the left arm to pick and shake the yellow bottle.",
+    "Use the left arm to lift and shake the yellow bottle with a green design.",
+    "Pick the rectangular bottle with cylindrical neck up using the left arm and shake it.",
+    "Grab the yellow plastic bottle with white top with the left arm and shake.",
+    "Grab the rectangular bottle with cylindrical neck and shake it steadily.",
+    "Shake the yellow bottle with a green design thoroughly after grabbing it.",
+    "Use the left arm to grab the bottle with white cap and shake properly.",
+    "Lift the rectangular bottle with cylindrical neck and shake it thoroughly.",
+    "Grab the yellow plastic bottle with white top carefully and shake.",
+    "Pick the yellow container with rounded edges, shake it with the left arm.",
+    "Grip the medium rectangular yellow bottle using the left arm and shake.",
+    "Shake the yellow bottle after grabbing it.",
+    "Using the left arm, shake the yellow bottle and then place it back.",
+    "Shake the plastic bottle after grabbing it.",
+    "Grab and shake the bottle with green label using the left arm.",
+    "Use the left arm to lift and shake the plastic bottle.",
+    "Shake the yellow plastic bottle with white top using the left arm after grabbing.",
+    "Hold and shake the the yellow bottle with a green design carefully.",
+    "Hold the smooth bottle with rounded edges with the left arm and shake lightly.",
+    "Pick the bottle with green label up with the left arm and shake.",
+    "Lift the plastic bottle and shake it gently.",
+    "Shake the plastic bottle after grabbing it.",
+    "Shake the bottle with green label after lifting it.",
+    "Hold the rectangular bottle with cylindrical neck and shake it properly.",
+    "Grab the medium rectangular yellow bottle firmly, shake it, and put it down.",
+    "Catch the bottle with a smooth plastic body and shake it instantly.",
+    "Grasp the bottle with a smooth plastic body with the left arm and shake it.",
+    "Use the left arm to hold the yellow bottle with a green design and shake it.",
+    "Grab the bottle with white cap and move it to shake.",
+    "Grab the plastic bottle and give it a shake.",
+    "Use the left arm to lift and shake the smooth bottle with rounded edges.",
+    "Pick up the bottle with green label and shake it.",
+    "Lift the bottle with green and white labels with the left arm and shake."
+  ],
+  "unseen": [
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the left arm.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick up the yellow bottle for liquid storage with the left arm and shake.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the left arm.",
+    "Use the left arm to pick the yellow bottle for liquid storage.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Use the left arm to grab the yellow rectangular bottle and shake.",
+    "Pick up the yellow rectangular bottle 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.",
+    "Pick and shake the the yellow bottle for liquid storage with the left arm.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick up the hand-sized yellow plastic bottle with the left arm and shake.",
+    "Shake the yellow rectangular bottle after picking it with the left arm.",
+    "Use the left arm to pick the yellow bottle for liquid storage.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Use the left arm to grab the yellow rectangular bottle and shake.",
+    "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.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the left arm.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick up the yellow rectangular bottle with the left arm and shake.",
+    "Shake the yellow rectangular bottle after picking it with the left arm.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Use the left arm to grab the yellow rectangular bottle and shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Pick and shake the the yellow rectangular bottle with the left arm.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick up the hand-sized yellow plastic bottle with the left arm and shake.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Use the left arm to pick the yellow rectangular bottle.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Use the left arm to grab the yellow rectangular bottle and shake.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Pick and shake the the yellow rectangular bottle with the left arm.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick up the yellow bottle for liquid storage with the left arm and shake.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "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.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the left arm.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the hand-sized yellow plastic bottle with the left arm and shake.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the left arm.",
+    "Use the left arm to pick the yellow bottle for liquid storage.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Use the left arm to grab the yellow rectangular bottle and shake.",
+    "Pick up the yellow rectangular bottle 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.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the left arm.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick up the yellow rectangular bottle with the left arm and shake.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the left arm.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Use the left arm to grab the yellow rectangular bottle and shake.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the left arm.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick up the yellow rectangular bottle with the left arm and shake.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Pick up the yellow rectangular bottle 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.",
+    "Pick and shake the the yellow bottle for liquid storage with the left arm.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick up the yellow rectangular bottle with the left arm and shake.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the left arm.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Use the left arm to grab the yellow rectangular bottle and shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the left arm.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the yellow bottle for liquid storage with the left arm and shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002312.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002312.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2f60dbb008218f001f1e3602c1fdd59347882a6
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10002312.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the bottle with flat sides and logo thoroughly after grabbing it.",
+    "Lift the rectangular brown body with white top with the left arm and shake.",
+    "Secure the brown bottle, shake it, and place it down.",
+    "Use the left arm to lift and shake the dark brown bottle with a squared body.",
+    "Use the left arm to lift and shake the bottle with green cap.",
+    "Use the left arm to grab the medium bottle with glossy surface and shake properly.",
+    "Hold the smooth brown bottle with green label steady, then shake it.",
+    "Catch the rectangular brown body with white top and shake it instantly.",
+    "Hold the bottle with flat sides and logo with the left arm and shake lightly.",
+    "Pick up the smooth brown bottle with green label and shake it.",
+    "Lift up the medium bottle with glossy surface using the left arm, then shake.",
+    "Grab the smooth plastic bottle with white cap using the left arm, then shake.",
+    "Pick up the rectangular brown body with white top and shake it well.",
+    "Pick the brown bottle with rounded rectangular shape and perform shaking motion.",
+    "Pick the plastic bottle up with the left arm and shake.",
+    "Shake the rectangular-shaped bottle with round cap after grabbing it.",
+    "Use the left arm to hold the rectangular brown body with white top and shake it.",
+    "Secure the dark brown bottle with a squared body and perform a shake.",
+    "Grab the medium-sized brown plastic bottle carefully and shake.",
+    "Grab the brown bottle and move it to shake.",
+    "Using the left arm, shake the brown bottle with rounded rectangular shape and then place it back.",
+    "Grab the rectangular brown body with white top and shake it steadily.",
+    "Grip the smooth plastic bottle with white cap using the left arm and shake.",
+    "Lift the medium bottle with glossy surface and shake it thoroughly.",
+    "Use the left arm to grab the smooth brown bottle with green label and shake it.",
+    "Shake the the smooth plastic bottle with white cap properly after lifting.",
+    "Hold the medium bottle with glossy surface and shake it properly.",
+    "Lift the brown bottle and shake it gently.",
+    "Shake the medium bottle with glossy surface using the left arm after grabbing.",
+    "Lift the smooth plastic bottle with white cap with the left arm and shake it.",
+    "Grab the medium-sized brown plastic bottle and give it a shake.",
+    "Use the left arm to pick and shake the dark brown bottle with a squared body.",
+    "Shake the bottle with flat sides and logo after holding it firmly.",
+    "Grasp the dark brown bottle with a squared body with the left arm and shake it.",
+    "Grab the dark brown bottle with a squared body firmly, shake it, and put it down.",
+    "Grab and shake the brown bottle with rounded rectangular shape using the left arm.",
+    "Shake the brown bottle after lifting it.",
+    "Hold and shake the the medium bottle with glossy surface carefully.",
+    "Shake the bottle with flat sides and logo after grabbing it.",
+    "Shake the rectangular brown body with white top firmly after grabbing.",
+    "With the left arm, pick the smooth plastic bottle with white cap and shake properly.",
+    "Shake the smooth plastic bottle with white cap after grabbing it.",
+    "Lift the brown bottle with rounded rectangular shape with the left arm and give it a shake.",
+    "Pick the bottle with flat sides and logo up using the left arm and shake it.",
+    "Pick the dark brown bottle with a squared body, shake it with the left arm.",
+    "Use the left arm to lift and shake the bottle with flat sides and logo.",
+    "Utilize the left arm to hold the plastic bottle and shake it.",
+    "Take the rectangular-shaped bottle with round cap using the left arm and give it a shake.",
+    "Hold the brown bottle, shake it briefly.",
+    "Grab the medium bottle with glossy surface with the left arm and shake.",
+    "Shake the rectangular brown body with white top thoroughly after grabbing it.",
+    "Lift the plastic bottle with the left arm and shake.",
+    "Secure the rectangular-shaped bottle with round cap, shake it, and place it down.",
+    "Use the left arm to lift and shake the medium-sized brown plastic bottle.",
+    "Use the left arm to lift and shake the medium bottle with glossy surface.",
+    "Use the left arm to grab the smooth brown bottle with green label and shake properly.",
+    "Hold the brown bottle steady, then shake it.",
+    "Catch the dark brown bottle with a squared body and shake it instantly.",
+    "Hold the smooth brown bottle with green label with the left arm and shake lightly.",
+    "Pick up the plastic bottle and shake it.",
+    "Lift up the plastic bottle using the left arm, then shake.",
+    "Grab the bottle with green cap using the left arm, then shake.",
+    "Pick up the bottle with green cap and shake it well.",
+    "Pick the smooth plastic bottle with white cap and perform shaking motion.",
+    "Pick the medium-sized brown plastic bottle up with the left arm and shake.",
+    "Shake the medium bottle with glossy surface after grabbing it.",
+    "Use the left arm to hold the smooth brown bottle with green label and shake it.",
+    "Secure the rectangular-shaped bottle with round cap and perform a shake.",
+    "Grab the dark brown bottle with a squared body carefully and shake.",
+    "Grab the rectangular-shaped bottle with round cap and move it to shake.",
+    "Using the left arm, shake the bottle with flat sides and logo and then place it back.",
+    "Grab the bottle with flat sides and logo and shake it steadily.",
+    "Grip the bottle with flat sides and logo using the left arm and shake.",
+    "Lift the rectangular brown body with white top and shake it thoroughly.",
+    "Use the left arm to grab the bottle with flat sides and logo and shake it.",
+    "Shake the the brown bottle with rounded rectangular shape properly after lifting.",
+    "Hold the brown bottle with rounded rectangular shape and shake it properly.",
+    "Lift the brown bottle and shake it gently.",
+    "Shake the rectangular brown body with white top using the left arm after grabbing.",
+    "Lift the smooth brown bottle with green label with the left arm and shake it.",
+    "Grab the rectangular brown body with white top and give it a shake.",
+    "Use the left arm to pick and shake the plastic bottle.",
+    "Shake the dark brown bottle with a squared body after holding it firmly.",
+    "Grasp the smooth plastic bottle with white cap with the left arm and shake it.",
+    "Grab the plastic bottle firmly, shake it, and put it down.",
+    "Grab and shake the smooth brown bottle with green label using the left arm.",
+    "Shake the dark brown bottle with a squared body after lifting it.",
+    "Hold and shake the the medium-sized brown plastic bottle carefully.",
+    "Shake the rectangular brown body with white top after grabbing it.",
+    "Shake the smooth brown bottle with green label firmly after grabbing.",
+    "With the left arm, pick the brown bottle with rounded rectangular shape and shake properly.",
+    "Shake the plastic bottle after grabbing it.",
+    "Lift the brown bottle with rounded rectangular shape with the left arm and give it a shake.",
+    "Pick the smooth plastic bottle with white cap up using the left arm and shake it.",
+    "Pick the medium bottle with glossy surface, shake it with the left arm.",
+    "Use the left arm to lift and shake the smooth plastic bottle with white cap.",
+    "Utilize the left arm to hold the bottle with green cap and shake it.",
+    "Take the medium bottle with glossy surface using the left arm and give it a shake.",
+    "Hold the smooth plastic bottle with white cap, shake it briefly.",
+    "Grab the smooth plastic bottle with white cap with the left arm and shake."
+  ],
+  "unseen": [
+    "Use the left arm to pick the bottle with green label and white lid.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.",
+    "Pick up the bottle with green label and white lid with the left arm and shake.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Use the left arm to grab the liquid container dark brown plastic and shake.",
+    "Use the left arm to pick the liquid container dark brown plastic.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the bottle with green label and white lid and give it a shake.",
+    "Shake the bottle with green label and white lid after picking it with the left arm.",
+    "Pick up the bottle with green label and white lid with the left arm and shake.",
+    "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.",
+    "Pick and shake the the bottle with green label and white lid with the left arm.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Use the left arm to grab the bottle with green label and white lid and shake.",
+    "Use the left arm to pick the bottle with green label and white lid.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Grab the bottle with green label and white lid and give it a shake.",
+    "Shake the bottle with green label and white lid after picking it with the left arm.",
+    "Pick up the liquid container dark brown plastic with the left arm and shake.",
+    "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.",
+    "Pick and shake the the bottle with green label and white lid with the left arm.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Use the left arm to grab the liquid container dark brown plastic and shake.",
+    "Use the left arm to pick the bottle with green label and white lid.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Shake the liquid container dark brown plastic after picking it with the left arm.",
+    "Pick up the liquid container dark brown plastic with the left arm and shake.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Use the left arm to pick the bottle with green label and white lid.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Grab the medium-sized plastic bottle with capped top and give it a shake.",
+    "Shake the liquid container dark brown plastic after picking it with the left arm.",
+    "Pick up the liquid container dark brown plastic with the left arm and shake.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Use the left arm to pick the bottle with green label and white lid.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.",
+    "Pick up the liquid container dark brown plastic with the left arm and shake.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Pick and shake the the liquid container dark brown plastic with the left arm.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Use the left arm to grab the bottle with green label and white lid and shake.",
+    "Use the left arm to pick the bottle with green label and white lid.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Grab the medium-sized plastic bottle with capped top and give it a shake.",
+    "Shake the bottle with green label and white lid after picking it with the left arm.",
+    "Pick up the bottle with green label and white lid with the left arm and shake.",
+    "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.",
+    "Pick and shake the the liquid container dark brown plastic with the left arm.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Use the left arm to pick the bottle with green label and white lid.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Grab the bottle with green label and white lid and give it a shake.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.",
+    "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Pick and shake the the bottle with green label and white lid with the left arm.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Use the left arm to pick the bottle with green label and white lid.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Shake the bottle with green label and white lid after picking it with the left arm.",
+    "Pick up the liquid container dark brown plastic with the left arm and shake.",
+    "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.",
+    "Pick and shake the the liquid container dark brown plastic with the left arm.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Use the left arm to grab the bottle with green label and white lid and shake.",
+    "Use the left arm to pick the bottle with green label and white lid.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Grab the bottle with green label and white lid and give it a shake.",
+    "Shake the bottle with green label and white lid after picking it with the left arm.",
+    "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Pick and shake the the liquid container dark brown plastic with the left arm.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Use the left arm to grab the medium-sized plastic bottle with capped top and shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003014.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003014.json
new file mode 100644
index 0000000000000000000000000000000000000000..b47584feab116cb974435579a0ef85b8166abdfe
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003014.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the cylindrical orange bottle with yellow top and shake properly.",
+    "Use the left arm to lift and shake the cylindrical orange bottle with yellow top.",
+    "Use the left arm to lift and shake the yellow-capped plastic bottle.",
+    "Grip the bottle with narrow neck using the left arm and shake.",
+    "Lift the cylindrical orange bottle with yellow top with the left arm and shake it.",
+    "Hold and shake the the bottle with narrow neck carefully.",
+    "Lift the plastic bottle and shake it thoroughly.",
+    "Shake the orange cylindrical bottle thoroughly after grabbing it.",
+    "Catch the bottle with printed label and shake it instantly.",
+    "Pick up the cylindrical orange bottle with yellow top and shake it well.",
+    "Grab the bottle with yellow cap firmly, shake it, and put it down.",
+    "Pick the orange cylindrical bottle up using the left arm and shake it.",
+    "Grab the bottle with narrow neck and move it to shake.",
+    "Shake the plastic bottle with sealed yellow cap after grabbing it.",
+    "Shake the orange cylindrical bottle using the left arm after grabbing.",
+    "Hold the bottle with printed label, shake it briefly.",
+    "Shake the bottle with narrow neck after holding it firmly.",
+    "Lift the smooth plastic bottle and shake it gently.",
+    "Shake the the orange bottle properly after lifting.",
+    "Pick the orange bottle and perform shaking motion.",
+    "Lift the cylindrical orange bottle with yellow top with the left arm and give it a shake.",
+    "Hold the bottle with narrow neck with the left arm and shake lightly.",
+    "Grab the plastic bottle with the left arm and shake.",
+    "Grab the medium-sized orange bottle and shake it steadily.",
+    "Grab and shake the plastic bottle using the left arm.",
+    "Pick up the medium-sized orange bottle and shake it.",
+    "Use the left arm to pick and shake the smooth plastic bottle.",
+    "Use the left arm to hold the cylindrical orange bottle with yellow top and shake it.",
+    "Shake the bottle with yellow cap firmly after grabbing.",
+    "Lift up the bottle for liquids using the left arm, then shake.",
+    "Take the smooth plastic bottle using the left arm and give it a shake.",
+    "Using the left arm, shake the smooth plastic bottle and then place it back.",
+    "Grasp the bottle with narrow neck with the left arm and shake it.",
+    "Hold the bottle with narrow neck steady, then shake it.",
+    "Use the left arm to lift and shake the bottle for liquids.",
+    "Grab the bottle for liquids and give it a shake.",
+    "Pick the medium-sized orange bottle, shake it with the left arm.",
+    "Grab the bottle with printed label carefully and shake.",
+    "Shake the orange cylindrical bottle after grabbing it.",
+    "Secure the cylindrical orange bottle with yellow top, shake it, and place it down.",
+    "Utilize the left arm to hold the bottle with printed label and shake it.",
+    "Secure the plastic bottle with sealed yellow cap and perform a shake.",
+    "Grab the plastic bottle using the left arm, then shake.",
+    "Shake the bottle with narrow neck after lifting it.",
+    "Shake the bottle with yellow cap after grabbing it.",
+    "Hold the yellow-capped plastic bottle and shake it properly.",
+    "Use the left arm to grab the bottle for liquids and shake it.",
+    "With the left arm, pick the bottle with narrow neck and shake properly.",
+    "Lift the medium-sized orange bottle with the left arm and shake.",
+    "Pick the bottle with printed label up with the left arm and shake.",
+    "Use the left arm to grab the bottle for liquids and shake properly.",
+    "Use the left arm to lift and shake the bottle for liquids.",
+    "Use the left arm to lift and shake the yellow-capped plastic bottle.",
+    "Grip the bottle with printed label using the left arm and shake.",
+    "Lift the bottle with narrow neck with the left arm and shake it.",
+    "Hold and shake the the plastic bottle carefully.",
+    "Lift the bottle for liquids and shake it thoroughly.",
+    "Shake the bottle with narrow neck thoroughly after grabbing it.",
+    "Catch the plastic bottle with sealed yellow cap and shake it instantly.",
+    "Pick up the bottle with printed label and shake it well.",
+    "Grab the bottle with narrow neck firmly, shake it, and put it down.",
+    "Pick the plastic bottle up using the left arm and shake it.",
+    "Grab the bottle with yellow cap and move it to shake.",
+    "Shake the bottle with printed label after grabbing it.",
+    "Shake the yellow-capped plastic bottle using the left arm after grabbing.",
+    "Hold the bottle with printed label, shake it briefly.",
+    "Shake the plastic bottle after holding it firmly.",
+    "Lift the medium-sized orange bottle and shake it gently.",
+    "Shake the the bottle with yellow cap properly after lifting.",
+    "Pick the yellow-capped plastic bottle and perform shaking motion.",
+    "Lift the bottle for liquids with the left arm and give it a shake.",
+    "Hold the medium-sized orange bottle with the left arm and shake lightly.",
+    "Grab the medium-sized orange bottle with the left arm and shake.",
+    "Grab the smooth plastic bottle and shake it steadily.",
+    "Grab and shake the medium-sized orange bottle using the left arm.",
+    "Pick up the orange cylindrical bottle and shake it.",
+    "Use the left arm to pick and shake the plastic bottle with sealed yellow cap.",
+    "Use the left arm to hold the cylindrical orange bottle with yellow top and shake it.",
+    "Shake the plastic bottle firmly after grabbing.",
+    "Lift up the orange bottle using the left arm, then shake.",
+    "Take the bottle with narrow neck using the left arm and give it a shake.",
+    "Using the left arm, shake the bottle with narrow neck and then place it back.",
+    "Grasp the plastic bottle with sealed yellow cap with the left arm and shake it.",
+    "Hold the plastic bottle with sealed yellow cap steady, then shake it.",
+    "Use the left arm to lift and shake the medium-sized orange bottle.",
+    "Grab the medium-sized orange bottle and give it a shake.",
+    "Pick the orange cylindrical bottle, shake it with the left arm.",
+    "Grab the bottle for liquids carefully and shake.",
+    "Shake the bottle with narrow neck after grabbing it.",
+    "Secure the bottle with narrow neck, shake it, and place it down.",
+    "Utilize the left arm to hold the plastic bottle and shake it.",
+    "Secure the bottle with yellow cap and perform a shake.",
+    "Grab the yellow-capped plastic bottle using the left arm, then shake.",
+    "Shake the medium-sized orange bottle after lifting it.",
+    "Shake the cylindrical orange bottle with yellow top after grabbing it.",
+    "Hold the yellow-capped plastic bottle and shake it properly.",
+    "Use the left arm to grab the bottle with yellow cap and shake it.",
+    "With the left arm, pick the medium-sized orange bottle and shake properly.",
+    "Lift the plastic bottle with sealed yellow cap with the left arm and shake.",
+    "Pick the orange cylindrical bottle up with the left arm and shake."
+  ],
+  "unseen": [
+    "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.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Grab the label-covered 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 give it a shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the 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.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Grab the handheld orange bottle and shake it.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the 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.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick up the 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.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick up the 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.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Grab the handheld orange bottle and shake it.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick up the 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.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Grab 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 give it a shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003021.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003021.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd1e72bc3be5914382563371888a095294563dbc
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003021.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab the plastic bottle and shake it.",
+    "Pick up the rectangular-shaped bottle with round cap and shake it well.",
+    "With the left arm, pick the rectangular brown body with white top and shake properly.",
+    "Grab the brown bottle with rounded rectangular shape and move it to shake.",
+    "Lift up the smooth brown bottle with green label using the left arm, then shake.",
+    "Catch the rectangular-shaped bottle with round cap and shake it instantly.",
+    "Lift the smooth brown bottle with green label and shake it thoroughly.",
+    "Pick the medium-sized brown plastic bottle up with the left arm and shake.",
+    "Shake the brown bottle after lifting it.",
+    "Lift the plastic bottle with the left arm and shake it.",
+    "Grab the brown bottle with the left arm and shake.",
+    "Shake the bottle with green cap using the left arm after grabbing.",
+    "Use the left arm to lift and shake the brown bottle.",
+    "Lift the bottle with flat sides and logo and shake it gently.",
+    "Use the left arm to grab the brown bottle with rounded rectangular shape and shake properly.",
+    "Grab the medium-sized brown plastic bottle and shake it steadily.",
+    "Shake the brown bottle thoroughly after grabbing it.",
+    "Lift the plastic bottle with the left arm and give it a shake.",
+    "Shake the plastic bottle after grabbing it.",
+    "Grab and shake the medium-sized brown plastic bottle using the left arm.",
+    "Shake the brown bottle with rounded rectangular shape after grabbing it.",
+    "Shake the brown bottle with rounded rectangular shape firmly after grabbing.",
+    "Hold the bottle with green cap steady, then shake it.",
+    "Use the left arm to lift and shake the brown bottle.",
+    "Hold the medium-sized brown plastic bottle and shake it properly.",
+    "Grab the dark brown bottle with a squared body and give it a shake.",
+    "Take the dark brown bottle with a squared body using the left arm and give it a shake.",
+    "Pick up the brown bottle with rounded rectangular shape and shake it.",
+    "Secure the dark brown bottle with a squared body, shake it, and place it down.",
+    "Shake the plastic bottle after holding it firmly.",
+    "Shake the the medium bottle with glossy surface properly after lifting.",
+    "Pick the brown bottle with rounded rectangular shape up using the left arm and shake it.",
+    "Use the left arm to lift and shake the medium-sized brown plastic bottle.",
+    "Use the left arm to hold the rectangular-shaped bottle with round cap and shake it.",
+    "Pick the rectangular brown body with white top, shake it with the left arm.",
+    "Pick the medium bottle with glossy surface and perform shaking motion.",
+    "Grab the bottle with flat sides and logo using the left arm, then shake.",
+    "Lift the bottle with green cap with the left arm and shake.",
+    "Secure the brown bottle and perform a shake.",
+    "Hold the rectangular brown body with white top with the left arm and shake lightly.",
+    "Using the left arm, shake the smooth plastic bottle with white cap and then place it back.",
+    "Utilize the left arm to hold the smooth plastic bottle with white cap and shake it.",
+    "Grasp the rectangular brown body with white top with the left arm and shake it.",
+    "Use the left arm to pick and shake the dark brown bottle with a squared body.",
+    "Grab the medium bottle with glossy surface firmly, shake it, and put it down.",
+    "Hold and shake the the dark brown bottle with a squared body carefully.",
+    "Grip the bottle with flat sides and logo using the left arm and shake.",
+    "Hold the plastic bottle, shake it briefly.",
+    "Shake the rectangular-shaped bottle with round cap after grabbing it.",
+    "Grab the plastic bottle carefully and shake.",
+    "Use the left arm to grab the medium bottle with glossy surface and shake it.",
+    "Pick up the medium-sized brown plastic bottle and shake it well.",
+    "With the left arm, pick the plastic bottle and shake properly.",
+    "Grab the medium-sized brown plastic bottle and move it to shake.",
+    "Lift up the brown bottle using the left arm, then shake.",
+    "Catch the brown bottle and shake it instantly.",
+    "Lift the medium-sized brown plastic bottle and shake it thoroughly.",
+    "Pick the smooth plastic bottle with white cap up with the left arm and shake.",
+    "Shake the plastic bottle after lifting it.",
+    "Lift the smooth brown bottle with green label with the left arm and shake it.",
+    "Grab the bottle with flat sides and logo with the left arm and shake.",
+    "Shake the bottle with flat sides and logo using the left arm after grabbing.",
+    "Use the left arm to lift and shake the rectangular brown body with white top.",
+    "Lift the dark brown bottle with a squared body and shake it gently.",
+    "Use the left arm to grab the medium bottle with glossy surface and shake properly.",
+    "Grab the rectangular brown body with white top and shake it steadily.",
+    "Shake the dark brown bottle with a squared body thoroughly after grabbing it.",
+    "Lift the medium-sized brown plastic bottle with the left arm and give it a shake.",
+    "Shake the smooth brown bottle with green label after grabbing it.",
+    "Grab and shake the medium bottle with glossy surface using the left arm.",
+    "Shake the bottle with green cap after grabbing it.",
+    "Shake the bottle with green cap firmly after grabbing.",
+    "Hold the rectangular brown body with white top steady, then shake it.",
+    "Use the left arm to lift and shake the dark brown bottle with a squared body.",
+    "Hold the smooth plastic bottle with white cap and shake it properly.",
+    "Grab the smooth brown bottle with green label and give it a shake.",
+    "Take the medium bottle with glossy surface using the left arm and give it a shake.",
+    "Pick up the bottle with flat sides and logo and shake it.",
+    "Secure the brown bottle with rounded rectangular shape, shake it, and place it down.",
+    "Shake the rectangular brown body with white top after holding it firmly.",
+    "Shake the the medium-sized brown plastic bottle properly after lifting.",
+    "Pick the brown bottle up using the left arm and shake it.",
+    "Use the left arm to lift and shake the medium-sized brown plastic bottle.",
+    "Use the left arm to hold the bottle with green cap and shake it.",
+    "Pick the medium-sized brown plastic bottle, shake it with the left arm.",
+    "Pick the bottle with green cap and perform shaking motion.",
+    "Grab the brown bottle with rounded rectangular shape using the left arm, then shake.",
+    "Lift the brown bottle with the left arm and shake.",
+    "Secure the bottle with green cap and perform a shake.",
+    "Hold the dark brown bottle with a squared body with the left arm and shake lightly.",
+    "Using the left arm, shake the rectangular-shaped bottle with round cap and then place it back.",
+    "Utilize the left arm to hold the dark brown bottle with a squared body and shake it.",
+    "Grasp the medium bottle with glossy surface with the left arm and shake it.",
+    "Use the left arm to pick and shake the dark brown bottle with a squared body.",
+    "Grab the medium bottle with glossy surface firmly, shake it, and put it down.",
+    "Hold and shake the the medium-sized brown plastic bottle carefully.",
+    "Grip the smooth brown bottle with green label using the left arm and shake.",
+    "Hold the brown bottle, shake it briefly.",
+    "Shake the smooth brown bottle with green label after grabbing it.",
+    "Grab the dark brown bottle with a squared body carefully and shake."
+  ],
+  "unseen": [
+    "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Pick and shake the the bottle with green label and white lid with the left 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 with the left arm and shake.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Use the left arm to pick the liquid container dark brown plastic.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.",
+    "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Pick and shake the the bottle with green label and white lid with the left 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 with the left arm and shake.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Use the left arm to pick the bottle with green label and white lid.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.",
+    "Use the left arm to grab the liquid container dark brown plastic and shake.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Pick and shake the the bottle with green label and white lid with the left arm.",
+    "Grab the bottle with green label and white lid and give it a shake.",
+    "Pick up the liquid container dark brown plastic with the left arm and shake.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Use the left arm to pick the liquid container dark brown plastic.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.",
+    "Use the left arm to grab the bottle with green label and white lid and shake.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Pick and shake the the bottle with green label and white lid with the left arm.",
+    "Grab the bottle with green label and white lid and give it a shake.",
+    "Pick up the liquid container dark brown plastic with the left arm and shake.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Use the left arm to pick the medium-sized plastic bottle with capped top.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Shake the bottle with green label and white lid after picking it with the left arm.",
+    "Use the left arm to grab the liquid container dark brown plastic and shake.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Pick and shake the the bottle with green label and white lid with the left arm.",
+    "Grab the liquid container dark brown plastic and give it a shake.",
+    "Pick up the liquid container dark brown plastic with the left arm and shake.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Use the left arm to pick the medium-sized plastic bottle with capped top.",
+    "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.",
+    "Use the left arm to grab the bottle with green label and white lid and shake.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Pick and shake the the liquid container dark brown plastic with the left 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 with the left arm and shake.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Use the left arm to pick the bottle with green label and white lid.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.",
+    "Use the left arm to grab the bottle with green label and white lid and shake.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Pick and shake the the bottle with green label and white lid with the left arm.",
+    "Grab the bottle with green label and white lid and give it a shake.",
+    "Pick up the liquid container dark brown plastic with the left arm and shake.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Use the left arm to pick the medium-sized plastic bottle with capped top.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.",
+    "Use the left arm to grab the bottle with green label and white lid and shake.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Pick and shake the the liquid container dark brown plastic with the left arm.",
+    "Grab the bottle with green label and white lid and give it a shake.",
+    "Pick up the liquid container dark brown plastic with the left arm and shake.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Use the left arm to pick the bottle with green label and white lid.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.",
+    "Use the left arm to grab the bottle with green label and white lid and shake.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Pick and shake the the bottle with green label and white lid with the left 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 with the left arm and shake.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Use the left arm to pick the bottle with green label and white lid.",
+    "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Shake the bottle with green label and white lid after picking it with the left arm.",
+    "Use the left arm to grab the bottle with green label and white lid and shake.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the left 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 with the left arm and shake.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Use the left arm to pick the bottle with green label and white lid.",
+    "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003033.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003033.json
new file mode 100644
index 0000000000000000000000000000000000000000..2734c79b4d474f04f3302d5b447439de4316a684
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003033.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the the white-capped brown cylindrical bottle properly after lifting.",
+    "Pick the medium plastic bottle and perform shaking motion.",
+    "Lift the cylindrical bottle with narrow neck with the left arm and shake.",
+    "Use the left arm to grab the medium bottle with smooth texture and shake properly.",
+    "Pick up the rounded bottle with printed details and shake it well.",
+    "Lift the handheld brown bottle with white lid and shake it thoroughly.",
+    "Using the left arm, shake the bottle with white cap and then place it back.",
+    "Grab the plastic bottle with printed label with the left arm and shake.",
+    "Grab the white-capped brown cylindrical bottle and move it to shake.",
+    "Grab the white-capped brown cylindrical bottle and give it a shake.",
+    "Hold and shake the the bottle with white cap carefully.",
+    "Grab and shake the bottle with dark brown color using the left arm.",
+    "Hold the white-capped brown cylindrical bottle steady, then shake it.",
+    "Shake the bottle with dark brown color after grabbing it.",
+    "Grab the medium plastic bottle using the left arm, then shake.",
+    "Grip the bottle with white cap using the left arm and shake.",
+    "Shake the rounded bottle with printed details after holding it firmly.",
+    "Use the left arm to lift and shake the medium bottle with smooth texture.",
+    "Use the left arm to lift and shake the bottle with white cap.",
+    "Catch the rounded bottle with printed details and shake it instantly.",
+    "Utilize the left arm to hold the smooth brown bottle and shake it.",
+    "Secure the bottle with dark brown color, shake it, and place it down.",
+    "Grab the white-capped brown cylindrical bottle firmly, shake it, and put it down.",
+    "Hold the white-capped brown cylindrical bottle, shake it briefly.",
+    "Grasp the bottle with white cap with the left arm and shake it.",
+    "Lift up the cylindrical bottle with narrow neck using the left arm, then shake.",
+    "Grab the smooth brown bottle carefully and shake.",
+    "Shake the bottle with white cap using the left arm after grabbing.",
+    "Pick the handheld brown bottle with white lid, shake it with the left arm.",
+    "Shake the cylindrical bottle with narrow neck thoroughly after grabbing it.",
+    "Use the left arm to grab the medium bottle with smooth texture and shake it.",
+    "Shake the plastic bottle for liquids after grabbing it.",
+    "With the left arm, pick the rounded bottle with printed details and shake properly.",
+    "Hold the plastic bottle for liquids with the left arm and shake lightly.",
+    "Use the left arm to lift and shake the bottle with white cap.",
+    "Lift the handheld brown bottle with white lid with the left arm and give it a shake.",
+    "Shake the bottle with white cap after lifting it.",
+    "Hold the plastic bottle for liquids and shake it properly.",
+    "Grab the plastic bottle with printed label and shake it steadily.",
+    "Shake the rounded bottle with printed details after grabbing it.",
+    "Shake the handheld brown bottle with white lid firmly after grabbing.",
+    "Use the left arm to hold the bottle with brown body and white top and shake it.",
+    "Pick the medium bottle with smooth texture up using the left arm and shake it.",
+    "Pick the smooth brown bottle up with the left arm and shake.",
+    "Secure the plastic bottle for liquids and perform a shake.",
+    "Take the plastic bottle with printed label using the left arm and give it a shake.",
+    "Use the left arm to pick and shake the bottle with white cap.",
+    "Lift the handheld brown bottle with white lid with the left arm and shake it.",
+    "Lift the bottle with brown body and white top and shake it gently.",
+    "Pick up the bottle with brown body and white top and shake it.",
+    "Shake the the bottle with white cap properly after lifting.",
+    "Pick the bottle with brown body and white top and perform shaking motion.",
+    "Lift the bottle with brown body and white top with the left arm and shake.",
+    "Use the left arm to grab the rounded bottle with printed details and shake properly.",
+    "Pick up the cylindrical bottle with narrow neck and shake it well.",
+    "Lift the medium bottle with smooth texture and shake it thoroughly.",
+    "Using the left arm, shake the medium bottle with smooth texture and then place it back.",
+    "Grab the bottle with white cap with the left arm and shake.",
+    "Grab the handheld brown bottle with white lid and move it to shake.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Hold and shake the the plastic bottle with printed label carefully.",
+    "Grab and shake the handheld brown bottle with white lid using the left arm.",
+    "Hold the medium plastic bottle steady, then shake it.",
+    "Shake the handheld brown bottle with white lid after grabbing it.",
+    "Grab the medium bottle with smooth texture using the left arm, then shake.",
+    "Grip the white-capped brown cylindrical bottle using the left arm and shake.",
+    "Shake the rounded bottle with printed details after holding it firmly.",
+    "Use the left arm to lift and shake the white-capped brown cylindrical bottle.",
+    "Use the left arm to lift and shake the bottle with white cap.",
+    "Catch the white-capped brown cylindrical bottle and shake it instantly.",
+    "Utilize the left arm to hold the bottle with brown body and white top and shake it.",
+    "Secure the bottle with dark brown color, shake it, and place it down.",
+    "Grab the cylindrical bottle with narrow neck firmly, shake it, and put it down.",
+    "Hold the bottle with white cap, shake it briefly.",
+    "Grasp the smooth brown bottle with the left arm and shake it.",
+    "Lift up the plastic bottle for liquids using the left arm, then shake.",
+    "Grab the bottle with white cap carefully and shake.",
+    "Shake the cylindrical bottle with narrow neck using the left arm after grabbing.",
+    "Pick the smooth brown bottle, shake it with the left arm.",
+    "Shake the bottle with white cap thoroughly after grabbing it.",
+    "Use the left arm to grab the handheld brown bottle with white lid and shake it.",
+    "Shake the bottle with brown body and white top after grabbing it.",
+    "With the left arm, pick the plastic bottle for liquids and shake properly.",
+    "Hold the rounded bottle with printed details with the left arm and shake lightly.",
+    "Use the left arm to lift and shake the smooth brown bottle.",
+    "Lift the smooth brown bottle with the left arm and give it a shake.",
+    "Shake the plastic bottle for liquids after lifting it.",
+    "Hold the handheld brown bottle with white lid and shake it properly.",
+    "Grab the rounded bottle with printed details and shake it steadily.",
+    "Shake the white-capped brown cylindrical bottle after grabbing it.",
+    "Shake the cylindrical bottle with narrow neck firmly after grabbing.",
+    "Use the left arm to hold the medium plastic bottle and shake it.",
+    "Pick the bottle with white cap up using the left arm and shake it.",
+    "Pick the white-capped brown cylindrical bottle up with the left arm and shake.",
+    "Secure the handheld brown bottle with white lid and perform a shake.",
+    "Take the bottle with brown body and white top using the left arm and give it a shake.",
+    "Use the left arm to pick and shake the plastic bottle for liquids.",
+    "Lift the bottle with brown body and white top with the left arm and shake it.",
+    "Lift the bottle with white cap and shake it gently.",
+    "Pick up the rounded bottle with printed details and shake it."
+  ],
+  "unseen": [
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Shake the brown bottle after picking it with the left arm.",
+    "Pick up the brown bottle and shake it.",
+    "Use the left arm to pick the brown cylindrical bottle with label.",
+    "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.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Use the left arm to grab the lightweight plastic brown bottle and shake.",
+    "Shake the lightweight plastic brown bottle after picking it with the left arm.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Use the left arm to pick the brown bottle.",
+    "Pick up the lightweight plastic brown bottle with the left arm and shake.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Use the left arm to grab the brown cylindrical bottle with label and shake.",
+    "Shake the brown bottle after picking it with the left arm.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Use the left arm to pick the lightweight plastic brown bottle.",
+    "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.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Shake the brown cylindrical bottle with label after picking it with the left arm.",
+    "Pick up the brown bottle and shake it.",
+    "Use the left arm to pick the brown cylindrical bottle with label.",
+    "Pick up the brown bottle with the left arm and shake.",
+    "Pick and shake the the lightweight plastic brown bottle with the left arm.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Grab the brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Use the left arm to grab the brown cylindrical bottle with label and shake.",
+    "Shake the brown cylindrical bottle with label after picking it with the left arm.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Use the left arm to pick the brown bottle.",
+    "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.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Grab the brown bottle and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Use the left arm to grab the lightweight plastic brown bottle and shake.",
+    "Shake the lightweight plastic brown bottle after picking it with the left arm.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Use the left arm to pick the brown bottle.",
+    "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.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Grab the brown bottle and shake it.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Grab the brown bottle and give it a shake.",
+    "Use the left arm to grab the lightweight plastic brown bottle and shake.",
+    "Shake the brown bottle after picking it with the left arm.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Use the left arm to pick the brown cylindrical bottle with label.",
+    "Pick up the brown bottle with the left arm and shake.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Grab the brown bottle and shake it.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Use the left arm to grab the brown cylindrical bottle with label and shake.",
+    "Shake the brown bottle after picking it with the left arm.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Use the left arm to pick the brown cylindrical bottle with label.",
+    "Pick up the brown cylindrical bottle with label with the left arm and shake.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the brown bottle and give it a shake.",
+    "Use the left arm to grab the brown cylindrical bottle with label and shake.",
+    "Shake the brown cylindrical bottle with label after picking it with the left arm.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Use the left arm to pick the lightweight plastic brown bottle.",
+    "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.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Grab the brown bottle and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Use the left arm to grab the brown cylindrical bottle with label and shake.",
+    "Shake the brown cylindrical bottle with label after picking it with the left arm.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Use the left arm to pick the lightweight plastic brown bottle.",
+    "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."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003050.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003050.json
new file mode 100644
index 0000000000000000000000000000000000000000..93d723ca9394403f32be2a1e56ef878d89dfb3f0
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003050.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the handheld brown bottle with white lid, shake it with the left arm.",
+    "Lift the medium bottle with smooth texture and shake it thoroughly.",
+    "Grab the rounded bottle with printed details firmly, shake it, and put it down.",
+    "Grab the medium plastic bottle with the left arm and shake.",
+    "Grab the bottle with brown body and white top and shake it steadily.",
+    "Pick the plastic bottle for liquids up using the left arm and shake it.",
+    "Hold and shake the the plastic bottle for liquids carefully.",
+    "Shake the medium plastic bottle after grabbing it.",
+    "Utilize the left arm to hold the plastic bottle with printed label and shake it.",
+    "Shake the bottle with dark brown color firmly after grabbing.",
+    "Pick up the medium plastic bottle and shake it well.",
+    "Using the left arm, shake the white-capped brown cylindrical bottle and then place it back.",
+    "Use the left arm to lift and shake the bottle with white cap.",
+    "Hold the medium plastic bottle with the left arm and shake lightly.",
+    "Use the left arm to grab the plastic bottle for liquids and shake properly.",
+    "Grab and shake the white-capped brown cylindrical bottle using the left arm.",
+    "Shake the medium bottle with smooth texture using the left arm after grabbing.",
+    "Grab the bottle with brown body and white top and give it a shake.",
+    "Grab the handheld brown bottle with white lid carefully and shake.",
+    "Shake the the plastic bottle with printed label properly after lifting.",
+    "Hold the plastic bottle for liquids, shake it briefly.",
+    "With the left arm, pick the bottle with white cap and shake properly.",
+    "Grab the bottle with white cap and move it to shake.",
+    "Hold the rounded bottle with printed details and shake it properly.",
+    "Lift the cylindrical bottle with narrow neck with the left arm and shake.",
+    "Shake the smooth brown bottle after lifting it.",
+    "Grip the white-capped brown cylindrical bottle using the left arm and shake.",
+    "Pick the cylindrical bottle with narrow neck up with the left arm and shake.",
+    "Pick the handheld brown bottle with white lid and perform shaking motion.",
+    "Use the left arm to lift and shake the bottle with dark brown color.",
+    "Shake the medium plastic bottle after grabbing it.",
+    "Use the left arm to grab the rounded bottle with printed details and shake it.",
+    "Secure the white-capped brown cylindrical bottle and perform a shake.",
+    "Use the left arm to lift and shake the bottle with brown body and white top.",
+    "Pick up the bottle with dark brown color and shake it.",
+    "Lift the plastic bottle for liquids and shake it gently.",
+    "Lift up the handheld brown bottle with white lid using the left arm, then shake.",
+    "Shake the plastic bottle with printed label after holding it firmly.",
+    "Use the left arm to hold the bottle with dark brown color and shake it.",
+    "Lift the bottle with white cap with the left arm and give it a shake.",
+    "Use the left arm to pick and shake the white-capped brown cylindrical bottle.",
+    "Hold the bottle with dark brown color steady, then shake it.",
+    "Catch the plastic bottle for liquids and shake it instantly.",
+    "Shake the smooth brown bottle after grabbing it.",
+    "Shake the medium plastic bottle thoroughly after grabbing it.",
+    "Secure the medium bottle with smooth texture, shake it, and place it down.",
+    "Grasp the plastic bottle with printed label with the left arm and shake it.",
+    "Take the white-capped brown cylindrical bottle using the left arm and give it a shake.",
+    "Lift the plastic bottle with printed label with the left arm and shake it.",
+    "Grab the bottle with dark brown color using the left arm, then shake.",
+    "Pick the medium plastic bottle, shake it with the left arm.",
+    "Lift the plastic bottle for liquids and shake it thoroughly.",
+    "Grab the cylindrical bottle with narrow neck firmly, shake it, and put it down.",
+    "Grab the rounded bottle with printed details with the left arm and shake.",
+    "Grab the medium bottle with smooth texture and shake it steadily.",
+    "Pick the handheld brown bottle with white lid up using the left arm and shake it.",
+    "Hold and shake the the plastic bottle with printed label carefully.",
+    "Shake the plastic bottle for liquids after grabbing it.",
+    "Utilize the left arm to hold the handheld brown bottle with white lid and shake it.",
+    "Shake the white-capped brown cylindrical bottle firmly after grabbing.",
+    "Pick up the smooth brown bottle and shake it well.",
+    "Using the left arm, shake the medium bottle with smooth texture and then place it back.",
+    "Use the left arm to lift and shake the cylindrical bottle with narrow neck.",
+    "Hold the handheld brown bottle with white lid with the left arm and shake lightly.",
+    "Use the left arm to grab the smooth brown bottle and shake properly.",
+    "Grab and shake the medium bottle with smooth texture using the left arm.",
+    "Shake the cylindrical bottle with narrow neck using the left arm after grabbing.",
+    "Grab the white-capped brown cylindrical bottle and give it a shake.",
+    "Grab the smooth brown bottle carefully and shake.",
+    "Shake the the white-capped brown cylindrical bottle properly after lifting.",
+    "Hold the cylindrical bottle with narrow neck, shake it briefly.",
+    "With the left arm, pick the bottle with white cap and shake properly.",
+    "Grab the plastic bottle for liquids and move it to shake.",
+    "Hold the white-capped brown cylindrical bottle and shake it properly.",
+    "Lift the plastic bottle for liquids with the left arm and shake.",
+    "Shake the bottle with white cap after lifting it.",
+    "Grip the rounded bottle with printed details using the left arm and shake.",
+    "Pick the plastic bottle with printed label up with the left arm and shake.",
+    "Pick the bottle with dark brown color and perform shaking motion.",
+    "Use the left arm to lift and shake the bottle with brown body and white top.",
+    "Shake the plastic bottle for liquids after grabbing it.",
+    "Use the left arm to grab the bottle with dark brown color and shake it.",
+    "Secure the bottle with dark brown color and perform a shake.",
+    "Use the left arm to lift and shake the medium plastic bottle.",
+    "Pick up the bottle with dark brown color and shake it.",
+    "Lift the plastic bottle with printed label and shake it gently.",
+    "Lift up the smooth brown bottle using the left arm, then shake.",
+    "Shake the bottle with dark brown color after holding it firmly.",
+    "Use the left arm to hold the bottle with brown body and white top and shake it.",
+    "Lift the handheld brown bottle with white lid with the left arm and give it a shake.",
+    "Use the left arm to pick and shake the medium plastic bottle.",
+    "Hold the medium plastic bottle steady, then shake it.",
+    "Catch the bottle with brown body and white top and shake it instantly.",
+    "Shake the rounded bottle with printed details after grabbing it.",
+    "Shake the handheld brown bottle with white lid thoroughly after grabbing it.",
+    "Secure the rounded bottle with printed details, shake it, and place it down.",
+    "Grasp the bottle with dark brown color with the left arm and shake it.",
+    "Take the cylindrical bottle with narrow neck using the left arm and give it a shake.",
+    "Lift the cylindrical bottle with narrow neck with the left arm and shake it.",
+    "Grab the plastic bottle for liquids using the left arm, then shake."
+  ],
+  "unseen": [
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Use the left arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick up the brown bottle with the left arm and shake.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Use the left arm to pick the lightweight plastic brown bottle.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Shake the lightweight plastic brown bottle after picking it with the left arm.",
+    "Pick and shake the the brown cylindrical bottle with label with the left arm.",
+    "Grab the brown bottle and give it a shake.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Pick up the brown bottle with the left arm and shake.",
+    "Grab the brown bottle and shake it.",
+    "Use the left arm to pick the brown bottle.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Shake the brown cylindrical bottle with label after picking it with the left arm.",
+    "Pick and shake the the brown cylindrical bottle with label with the left arm.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Use the left arm to grab the lightweight plastic brown bottle and shake.",
+    "Pick up the brown cylindrical bottle with label with the left arm and shake.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Use the left arm to pick the brown bottle.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Shake the lightweight plastic brown bottle after picking it with the left arm.",
+    "Pick and shake the the lightweight plastic brown bottle with the left arm.",
+    "Grab the brown bottle and give it a shake.",
+    "Use the left arm to grab the lightweight plastic brown bottle and shake.",
+    "Pick up the lightweight plastic brown bottle with the left arm and shake.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Use the left arm to pick the lightweight plastic brown bottle.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Shake the brown cylindrical bottle with label after picking it with the left arm.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Pick up the lightweight plastic brown bottle with the left arm and shake.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Use the left arm to pick the lightweight plastic brown bottle.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Shake the brown bottle after picking it with the left arm.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Grab the brown bottle and give it a shake.",
+    "Use the left arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick up the brown cylindrical bottle with label with the left arm and shake.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Use the left arm to pick the brown cylindrical bottle with label.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Shake the brown cylindrical bottle with label after picking it with the left arm.",
+    "Pick and shake the the lightweight plastic brown bottle with the left arm.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Pick up the brown bottle with the left arm and shake.",
+    "Grab the brown bottle and shake it.",
+    "Use the left arm to pick the brown cylindrical bottle with label.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Shake the brown cylindrical bottle with label after picking it with the left arm.",
+    "Pick and shake the the brown cylindrical bottle with label with the left arm.",
+    "Grab the brown bottle and give it a shake.",
+    "Use the left arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick up the brown cylindrical bottle with label with the left arm and shake.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Use the left arm to pick the lightweight plastic brown bottle.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Shake the lightweight plastic brown bottle after picking it with the left arm.",
+    "Pick and shake the the brown cylindrical bottle with label with the left arm.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Use the left arm to grab the lightweight plastic brown bottle and shake.",
+    "Pick up the brown bottle with the left arm and shake.",
+    "Grab the brown bottle and shake it.",
+    "Use the left arm to pick the lightweight plastic brown bottle.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Shake the lightweight plastic brown bottle after picking it with the left arm.",
+    "Pick and shake the the brown cylindrical bottle with label with the left arm.",
+    "Grab the brown bottle and give it a shake.",
+    "Use the left arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick up the brown cylindrical bottle with label with the left arm and shake.",
+    "Grab the brown bottle and shake it.",
+    "Use the left arm to pick the brown cylindrical bottle with label.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Shake the lightweight plastic brown bottle after picking it with the left arm.",
+    "Pick and shake the the lightweight plastic brown bottle with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003085.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003085.json
new file mode 100644
index 0000000000000000000000000000000000000000..908dc3a36566bcdebd134f6ba4fc5cf98621f83c
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003085.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to hold the bottle with white neck and red top and shake it.",
+    "Pick up the hand-sized soda bottle and shake it well.",
+    "Secure the long thin bottle, shake it, and place it down.",
+    "Utilize the left arm to hold the hand-sized soda bottle and shake it.",
+    "Lift the Coca-Cola bottle with the left arm and shake it.",
+    "Grab the dark drink bottle with logo and shake it steadily.",
+    "Grab the bottle with white neck and red top and give it a shake.",
+    "Grip the narrow-necked bottle using the left arm and shake.",
+    "Using the left arm, shake the dark drink bottle with logo and then place it back.",
+    "Pick the long thin bottle up using the left arm and shake it.",
+    "Shake the the dark drink bottle with logo properly after lifting.",
+    "Use the left arm to grab the bottle with ridges on bottom and shake properly.",
+    "Grab the smooth bottle with red lid with the left arm and shake.",
+    "Shake the long thin bottle firmly after grabbing.",
+    "Hold the bottle with white neck and red top and shake it properly.",
+    "Use the left arm to grab the plastic drink bottle and shake it.",
+    "Shake the long thin bottle after grabbing it.",
+    "Shake the bottle with ridges on bottom thoroughly after grabbing it.",
+    "Pick the plastic drink bottle, shake it with the left arm.",
+    "Lift the brown bottle with red label and shake it thoroughly.",
+    "Grab the long thin bottle firmly, shake it, and put it down.",
+    "Hold the narrow-necked bottle with the left arm and shake lightly.",
+    "Shake the plastic drink bottle after holding it firmly.",
+    "Grab and shake the hand-sized soda bottle using the left arm.",
+    "Lift up the Coca-Cola bottle using the left arm, then shake.",
+    "Grasp the bottle with ridges on bottom with the left arm and shake it.",
+    "Hold and shake the the bottle with white neck and red top carefully.",
+    "Shake the narrow-necked bottle after lifting it.",
+    "Pick the narrow-necked bottle up with the left arm and shake.",
+    "Hold the narrow-necked bottle, shake it briefly.",
+    "Shake the bottle with white neck and red top after grabbing it.",
+    "With the left arm, pick the medium dark brown bottle and shake properly.",
+    "Pick up the hand-sized soda bottle and shake it.",
+    "Use the left arm to pick and shake the bottle with white neck and red top.",
+    "Take the long thin bottle using the left arm and give it a shake.",
+    "Grab the red-capped bottle carefully and shake.",
+    "Hold the smooth bottle with red lid steady, then shake it.",
+    "Use the left arm to lift and shake the medium dark brown bottle.",
+    "Pick the narrow-necked bottle and perform shaking motion.",
+    "Shake the medium dark brown bottle using the left arm after grabbing.",
+    "Grab the medium dark brown bottle using the left arm, then shake.",
+    "Lift the plastic drink bottle and shake it gently.",
+    "Use the left arm to lift and shake the Coca-Cola bottle.",
+    "Shake the plastic drink bottle after grabbing it.",
+    "Lift the long thin bottle with the left arm and shake.",
+    "Catch the bottle with white neck and red top and shake it instantly.",
+    "Lift the plastic drink bottle with the left arm and give it a shake.",
+    "Use the left arm to lift and shake the narrow-necked bottle.",
+    "Grab the bottle with white neck and red top and move it to shake.",
+    "Secure the brown bottle with red label and perform a shake.",
+    "Use the left arm to hold the narrow-necked bottle and shake it.",
+    "Pick up the smooth bottle with red lid and shake it well.",
+    "Secure the dark drink bottle with logo, shake it, and place it down.",
+    "Utilize the left arm to hold the long thin bottle and shake it.",
+    "Lift the red-capped bottle with the left arm and shake it.",
+    "Grab the smooth bottle with red lid and shake it steadily.",
+    "Grab the bottle with white neck and red top and give it a shake.",
+    "Grip the bottle with white neck and red top using the left arm and shake.",
+    "Using the left arm, shake the red-capped bottle and then place it back.",
+    "Pick the smooth bottle with red lid up using the left arm and shake it.",
+    "Shake the the Coca-Cola bottle properly after lifting.",
+    "Use the left arm to grab the narrow-necked bottle and shake properly.",
+    "Grab the narrow-necked bottle with the left arm and shake.",
+    "Shake the hand-sized soda bottle firmly after grabbing.",
+    "Hold the long thin bottle and shake it properly.",
+    "Use the left arm to grab the bottle with white neck and red top and shake it.",
+    "Shake the hand-sized soda bottle after grabbing it.",
+    "Shake the red-capped bottle thoroughly after grabbing it.",
+    "Pick the bottle with white neck and red top, shake it with the left arm.",
+    "Lift the red-capped bottle and shake it thoroughly.",
+    "Grab the bottle with white neck and red top firmly, shake it, and put it down.",
+    "Hold the long thin bottle with the left arm and shake lightly.",
+    "Shake the smooth bottle with red lid after holding it firmly.",
+    "Grab and shake the long thin bottle using the left arm.",
+    "Lift up the smooth bottle with red lid using the left arm, then shake.",
+    "Grasp the bottle with white neck and red top with the left arm and shake it.",
+    "Hold and shake the the medium dark brown bottle carefully.",
+    "Shake the narrow-necked bottle after lifting it.",
+    "Pick the bottle with ridges on bottom up with the left arm and shake.",
+    "Hold the narrow-necked bottle, shake it briefly.",
+    "Shake the hand-sized soda bottle after grabbing it.",
+    "With the left arm, pick the hand-sized soda bottle and shake properly.",
+    "Pick up the narrow-necked bottle and shake it.",
+    "Use the left arm to pick and shake the smooth bottle with red lid.",
+    "Take the brown bottle with red label using the left arm and give it a shake.",
+    "Grab the long thin bottle carefully and shake.",
+    "Hold the long thin bottle steady, then shake it.",
+    "Use the left arm to lift and shake the long thin bottle.",
+    "Pick the bottle with ridges on bottom and perform shaking motion.",
+    "Shake the bottle with white neck and red top using the left arm after grabbing.",
+    "Grab the dark drink bottle with logo using the left arm, then shake.",
+    "Lift the medium dark brown bottle and shake it gently.",
+    "Use the left arm to lift and shake the plastic drink bottle.",
+    "Shake the red-capped bottle after grabbing it.",
+    "Lift the medium dark brown bottle with the left arm and shake.",
+    "Catch the plastic drink bottle and shake it instantly.",
+    "Lift the Coca-Cola bottle with the left arm and give it a shake.",
+    "Use the left arm to lift and shake the hand-sized soda bottle.",
+    "Grab the smooth bottle with red lid and move it to shake.",
+    "Secure the long thin bottle and perform a shake."
+  ],
+  "unseen": [
+    "Pick up the plastic soda bottle and shake it.",
+    "Shake the plastic soda bottle after picking it with the left arm.",
+    "Pick up the plastic soda bottle with the left arm and shake.",
+    "Use the left arm to pick the plastic soda bottle.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Grab the brown bottle and shake it.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Use the left arm to grab the plastic soda bottle and shake.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Shake the bottle with red screw cap after picking it with the left arm.",
+    "Pick up the plastic soda bottle with the left arm and shake.",
+    "Use the left arm to pick the bottle with red screw cap.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Grab the bottle with red screw cap and give it a shake.",
+    "Pick and shake the the plastic soda bottle with the left arm.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Use the left arm to grab the bottle with red screw cap and shake.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Shake the brown bottle after picking it with the left arm.",
+    "Pick up the plastic soda bottle with the left arm and shake.",
+    "Use the left arm to pick the brown bottle.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Pick and shake the the plastic soda bottle with the left arm.",
+    "Grab the brown bottle and shake it.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Use the left arm to grab the bottle with red screw cap and shake.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Shake the plastic soda bottle after picking it with the left arm.",
+    "Pick up the plastic soda bottle with the left arm and shake.",
+    "Use the left arm to pick the brown bottle.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Pick and shake the the bottle with red screw cap with the left arm.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Use the left arm to grab the plastic soda bottle and shake.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Shake the plastic soda bottle after picking it with the left arm.",
+    "Pick up the plastic soda bottle with the left arm and shake.",
+    "Use the left arm to pick the brown bottle.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Grab the bottle with red screw cap and give it a shake.",
+    "Pick and shake the the plastic soda bottle with the left arm.",
+    "Grab the brown bottle and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Shake the bottle with red screw cap after picking it with the left arm.",
+    "Pick up the brown bottle with the left arm and shake.",
+    "Use the left arm to pick the brown bottle.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick and shake the the bottle with red screw cap with the left arm.",
+    "Grab the brown bottle and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Use the left arm to grab the bottle with red screw cap and shake.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Shake the bottle with red screw cap after picking it with the left arm.",
+    "Pick up the brown bottle with the left arm and shake.",
+    "Use the left arm to pick the bottle with red screw cap.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Grab the plastic soda bottle and shake it.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Shake the bottle with red screw cap after picking it with the left arm.",
+    "Pick up the bottle with red screw cap with the left arm and shake.",
+    "Use the left arm to pick the brown bottle.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Grab the bottle with red screw cap and give it a shake.",
+    "Pick and shake the the plastic soda bottle with the left arm.",
+    "Grab the brown bottle and shake it.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Use the left arm to grab the plastic soda bottle and shake.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Shake the brown bottle after picking it with the left arm.",
+    "Pick up the plastic soda bottle with the left arm and shake.",
+    "Use the left arm to pick the plastic soda bottle.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick and shake the the bottle with red screw cap with the left arm.",
+    "Grab the plastic soda bottle and shake it.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Pick up the brown bottle and shake it.",
+    "Shake the bottle with red screw cap after picking it with the left arm.",
+    "Pick up the plastic soda bottle with the left arm and shake.",
+    "Use the left arm to pick the brown bottle.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Grab the bottle with red screw cap and give it a shake.",
+    "Pick and shake the the bottle with red screw cap with the left arm.",
+    "Grab the plastic soda bottle and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Use the left arm to grab the plastic soda bottle and shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003212.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003212.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9cbca82e08dfd31496cab045bdba287ab1eca5b
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003212.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to grab the white and orange plastic bottle and shake it.",
+    "Shake the smooth plastic bottle firmly after grabbing.",
+    "Shake the orange and white bottle with cap using the right arm after grabbing.",
+    "Grab the drinking bottle with yellow label using the right arm, then shake.",
+    "Lift the cylindrical orange and white bottle and shake it thoroughly.",
+    "Grab the yellow label bottle and move it to shake.",
+    "Grab the medium orange bottle with the right arm and shake.",
+    "Hold and shake the the medium orange bottle carefully.",
+    "Pick the bottle with ribbed orange bottom, shake it with the right arm.",
+    "Grab the medium bottle with orange lid firmly, shake it, and put it down.",
+    "Use the right arm to pick and shake the medium orange bottle.",
+    "Shake the yellow label bottle after lifting it.",
+    "Shake the medium bottle with orange lid after grabbing it.",
+    "Utilize the right arm to hold the orange bottle and shake it.",
+    "Lift the white and orange plastic bottle with the right arm and shake.",
+    "Pick up the bottle with ribbed orange bottom and shake it well.",
+    "Use the right arm to lift and shake the bottle with orange cap.",
+    "Shake the bottle with ribbed orange bottom after holding it firmly.",
+    "Take the medium orange bottle using the right arm and give it a shake.",
+    "Grab the bottle with orange cap and shake it steadily.",
+    "With the right arm, pick the plastic bottle and shake properly.",
+    "Grab the medium orange bottle carefully and shake.",
+    "Lift the bottle with ribbed orange bottom with the right arm and give it a shake.",
+    "Grab the plastic bottle and give it a shake.",
+    "Lift the yellow label bottle with the right arm and shake it.",
+    "Using the right arm, shake the bottle with orange cap and then place it back.",
+    "Hold the yellow label bottle and shake it properly.",
+    "Lift the orange and white bottle with cap and shake it gently.",
+    "Use the right arm to lift and shake the cylindrical orange and white bottle.",
+    "Shake the medium bottle with orange lid thoroughly after grabbing it.",
+    "Shake the orange bottle after grabbing it.",
+    "Lift up the orange bottle using the right arm, then shake.",
+    "Use the right arm to hold the plastic bottle and shake it.",
+    "Secure the medium bottle with orange lid and perform a shake.",
+    "Catch the yellow label bottle and shake it instantly.",
+    "Pick the plastic bottle up using the right arm and shake it.",
+    "Use the right arm to lift and shake the orange bottle.",
+    "Use the right arm to grab the medium bottle with orange lid and shake properly.",
+    "Grasp the medium orange bottle with the right arm and shake it.",
+    "Hold the yellow label bottle steady, then shake it.",
+    "Pick the orange bottle and perform shaking motion.",
+    "Secure the drinking bottle with yellow label, shake it, and place it down.",
+    "Pick up the white and orange plastic bottle and shake it.",
+    "Hold the drinking bottle with yellow label with the right arm and shake lightly.",
+    "Grab and shake the plastic bottle using the right arm.",
+    "Hold the orange and white bottle with cap, shake it briefly.",
+    "Grip the orange bottle using the right arm and shake.",
+    "Pick the drinking bottle with yellow label up with the right arm and shake.",
+    "Shake the the orange and white bottle with cap properly after lifting.",
+    "Shake the white and orange plastic bottle after grabbing it.",
+    "Use the right arm to grab the yellow label bottle and shake it.",
+    "Shake the white and orange plastic bottle firmly after grabbing.",
+    "Shake the drinking bottle with yellow label using the right arm after grabbing.",
+    "Grab the bottle with orange cap using the right arm, then shake.",
+    "Lift the bottle with ribbed orange bottom and shake it thoroughly.",
+    "Grab the medium bottle with orange lid and move it to shake.",
+    "Grab the cylindrical orange and white bottle with the right arm and shake.",
+    "Hold and shake the the smooth plastic bottle carefully.",
+    "Pick the bottle with ribbed orange bottom, shake it with the right arm.",
+    "Grab the plastic bottle firmly, shake it, and put it down.",
+    "Use the right arm to pick and shake the bottle with orange cap.",
+    "Shake the medium bottle with orange lid after lifting it.",
+    "Shake the yellow label bottle after grabbing it.",
+    "Utilize the right arm to hold the yellow label bottle and shake it.",
+    "Lift the medium orange bottle with the right arm and shake.",
+    "Pick up the drinking bottle with yellow label and shake it well.",
+    "Use the right arm to lift and shake the orange and white bottle with cap.",
+    "Shake the bottle with orange cap after holding it firmly.",
+    "Take the cylindrical orange and white bottle using the right arm and give it a shake.",
+    "Grab the orange and white bottle with cap and shake it steadily.",
+    "With the right arm, pick the medium orange bottle and shake properly.",
+    "Grab the bottle with orange cap carefully and shake.",
+    "Lift the bottle with orange cap with the right arm and give it a shake.",
+    "Grab the medium bottle with orange lid and give it a shake.",
+    "Lift the yellow label bottle with the right arm and shake it.",
+    "Using the right arm, shake the white and orange plastic bottle and then place it back.",
+    "Hold the cylindrical orange and white bottle and shake it properly.",
+    "Lift the bottle with orange cap and shake it gently.",
+    "Use the right arm to lift and shake the drinking bottle with yellow label.",
+    "Shake the bottle with orange cap thoroughly after grabbing it.",
+    "Shake the plastic bottle after grabbing it.",
+    "Lift up the orange bottle using the right arm, then shake.",
+    "Use the right arm to hold the drinking bottle with yellow label and shake it.",
+    "Secure the bottle with ribbed orange bottom and perform a shake.",
+    "Catch the orange bottle and shake it instantly.",
+    "Pick the medium orange bottle up using the right arm and shake it.",
+    "Use the right arm to lift and shake the smooth plastic bottle.",
+    "Use the right arm to grab the cylindrical orange and white bottle and shake properly.",
+    "Grasp the drinking bottle with yellow label with the right arm and shake it.",
+    "Hold the orange and white bottle with cap steady, then shake it.",
+    "Pick the cylindrical orange and white bottle and perform shaking motion.",
+    "Secure the smooth plastic bottle, shake it, and place it down.",
+    "Pick up the drinking bottle with yellow label and shake it.",
+    "Hold the cylindrical orange and white bottle with the right arm and shake lightly.",
+    "Grab and shake the medium orange bottle using the right arm.",
+    "Hold the cylindrical orange and white bottle, shake it briefly.",
+    "Grip the smooth plastic bottle using the right arm and shake.",
+    "Pick the plastic bottle up with the right arm and shake.",
+    "Shake the the orange and white bottle with cap properly after lifting.",
+    "Shake the cylindrical orange and white bottle after grabbing it."
+  ],
+  "unseen": [
+    "Pick up the bottle with curved body and shake it.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Grab the bottle with curved body and shake it.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with curved body and give it a shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003223.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003223.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a96f8a979aea471e5fd32928a6fc0ed00419411
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003223.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the smooth brown bottle and shake it properly.",
+    "Grab and shake the plastic bottle for liquids using the right arm.",
+    "Grab the bottle with brown body and white top and give it a shake.",
+    "Pick the plastic bottle for liquids, shake it with the right arm.",
+    "Shake the medium plastic bottle thoroughly after grabbing it.",
+    "With the right arm, pick the bottle with dark brown color and shake properly.",
+    "Secure the smooth brown bottle, shake it, and place it down.",
+    "Pick the white-capped brown cylindrical bottle up with the right arm and shake.",
+    "Shake the white-capped brown cylindrical bottle after grabbing it.",
+    "Take the handheld brown bottle with white lid using the right arm and give it a shake.",
+    "Grab the cylindrical bottle with narrow neck carefully and shake.",
+    "Shake the bottle with dark brown color after holding it firmly.",
+    "Using the right arm, shake the smooth brown bottle and then place it back.",
+    "Hold the bottle with brown body and white top with the right arm and shake lightly.",
+    "Secure the smooth brown bottle and perform a shake.",
+    "Lift the cylindrical bottle with narrow neck and shake it gently.",
+    "Shake the medium bottle with smooth texture using the right arm after grabbing.",
+    "Grab the rounded bottle with printed details and shake it steadily.",
+    "Lift the bottle with white cap and shake it thoroughly.",
+    "Grab the bottle with white cap using the right arm, then shake.",
+    "Pick the medium bottle with smooth texture and perform shaking motion.",
+    "Hold the medium plastic bottle steady, then shake it.",
+    "Pick up the medium bottle with smooth texture and shake it well.",
+    "Lift up the bottle with brown body and white top using the right arm, then shake.",
+    "Use the right arm to lift and shake the rounded bottle with printed details.",
+    "Grab the plastic bottle for liquids with the right arm and shake.",
+    "Grip the white-capped brown cylindrical bottle using the right arm and shake.",
+    "Hold and shake the the white-capped brown cylindrical bottle carefully.",
+    "Shake the white-capped brown cylindrical bottle after grabbing it.",
+    "Lift the medium plastic bottle with the right arm and shake it.",
+    "Use the right arm to grab the white-capped brown cylindrical bottle and shake properly.",
+    "Grasp the cylindrical bottle with narrow neck with the right arm and shake it.",
+    "Pick up the plastic bottle with printed label and shake it.",
+    "Grab the bottle with brown body and white top and move it to shake.",
+    "Use the right arm to grab the cylindrical bottle with narrow neck and shake it.",
+    "Hold the medium plastic bottle, shake it briefly.",
+    "Grab the bottle with white cap firmly, shake it, and put it down.",
+    "Shake the medium plastic bottle after grabbing it.",
+    "Shake the plastic bottle for liquids after lifting it.",
+    "Catch the cylindrical bottle with narrow neck and shake it instantly.",
+    "Shake the plastic bottle with printed label firmly after grabbing.",
+    "Use the right arm to lift and shake the plastic bottle with printed label.",
+    "Pick the handheld brown bottle with white lid up using the right arm and shake it.",
+    "Use the right arm to lift and shake the bottle with brown body and white top.",
+    "Lift the plastic bottle for liquids with the right arm and shake.",
+    "Utilize the right arm to hold the plastic bottle for liquids and shake it.",
+    "Use the right arm to hold the plastic bottle for liquids and shake it.",
+    "Lift the bottle with dark brown color with the right arm and give it a shake.",
+    "Shake the the bottle with white cap properly after lifting.",
+    "Use the right arm to pick and shake the plastic bottle with printed label.",
+    "Hold the plastic bottle for liquids and shake it properly.",
+    "Grab and shake the smooth brown bottle using the right arm.",
+    "Grab the cylindrical bottle with narrow neck and give it a shake.",
+    "Pick the bottle with brown body and white top, shake it with the right arm.",
+    "Shake the medium plastic bottle thoroughly after grabbing it.",
+    "With the right arm, pick the bottle with brown body and white top and shake properly.",
+    "Secure the bottle with white cap, shake it, and place it down.",
+    "Pick the cylindrical bottle with narrow neck up with the right arm and shake.",
+    "Shake the plastic bottle for liquids after grabbing it.",
+    "Take the plastic bottle with printed label using the right arm and give it a shake.",
+    "Grab the medium plastic bottle carefully and shake.",
+    "Shake the medium plastic bottle after holding it firmly.",
+    "Using the right arm, shake the bottle with dark brown color and then place it back.",
+    "Hold the bottle with dark brown color with the right arm and shake lightly.",
+    "Secure the medium plastic bottle and perform a shake.",
+    "Lift the medium bottle with smooth texture and shake it gently.",
+    "Shake the medium bottle with smooth texture using the right arm after grabbing.",
+    "Grab the handheld brown bottle with white lid and shake it steadily.",
+    "Lift the medium bottle with smooth texture and shake it thoroughly.",
+    "Grab the medium bottle with smooth texture using the right arm, then shake.",
+    "Pick the plastic bottle for liquids and perform shaking motion.",
+    "Hold the plastic bottle for liquids steady, then shake it.",
+    "Pick up the plastic bottle for liquids and shake it well.",
+    "Lift up the handheld brown bottle with white lid using the right arm, then shake.",
+    "Use the right arm to lift and shake the smooth brown bottle.",
+    "Grab the white-capped brown cylindrical bottle with the right arm and shake.",
+    "Grip the smooth brown bottle using the right arm and shake.",
+    "Hold and shake the the bottle with dark brown color carefully.",
+    "Shake the bottle with brown body and white top after grabbing it.",
+    "Lift the bottle with brown body and white top with the right arm and shake it.",
+    "Use the right arm to grab the bottle with dark brown color and shake properly.",
+    "Grasp the plastic bottle with printed label with the right arm and shake it.",
+    "Pick up the medium plastic bottle and shake it.",
+    "Grab the handheld brown bottle with white lid and move it to shake.",
+    "Use the right arm to grab the plastic bottle for liquids and shake it.",
+    "Hold the medium plastic bottle, shake it briefly.",
+    "Grab the bottle with dark brown color firmly, shake it, and put it down.",
+    "Shake the plastic bottle with printed label after grabbing it.",
+    "Shake the smooth brown bottle after lifting it.",
+    "Catch the medium plastic bottle and shake it instantly.",
+    "Shake the rounded bottle with printed details firmly after grabbing.",
+    "Use the right arm to lift and shake the white-capped brown cylindrical bottle.",
+    "Pick the bottle with dark brown color up using the right arm and shake it.",
+    "Use the right arm to lift and shake the bottle with brown body and white top.",
+    "Lift the bottle with dark brown color with the right arm and shake.",
+    "Utilize the right arm to hold the plastic bottle with printed label and shake it.",
+    "Use the right arm to hold the bottle with dark brown color and shake it.",
+    "Lift the handheld brown bottle with white lid with the right arm and give it a shake.",
+    "Shake the the cylindrical bottle with narrow neck properly after lifting.",
+    "Use the right arm to pick and shake the white-capped brown cylindrical bottle."
+  ],
+  "unseen": [
+    "Use the right arm to pick the brown bottle.",
+    "Use the right arm to grab the lightweight plastic brown bottle and shake.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the brown bottle and shake it.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Use the right arm to pick the brown cylindrical bottle with label.",
+    "Use the right arm to grab the lightweight plastic brown bottle and shake.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Pick up the lightweight plastic brown bottle with the right arm and shake.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Use the right arm to pick the brown cylindrical bottle with label.",
+    "Use the right arm to grab the lightweight plastic brown bottle and shake.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "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 and shake it.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Use the right arm to pick the brown bottle.",
+    "Use the right arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "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 bottle and shake it.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Use the right arm to grab the lightweight plastic brown bottle and shake.",
+    "Pick up the lightweight plastic brown bottle with the right arm and shake.",
+    "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 and shake it.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Use the right arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Shake the lightweight plastic brown bottle after picking it with the right arm.",
+    "Use the right arm to pick the brown bottle.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Shake the lightweight plastic brown bottle after picking it with the right arm.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Use the right arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "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 and shake it.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Use the right arm to grab the lightweight plastic brown bottle and shake.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Pick and shake the the brown cylindrical bottle with label with the right arm.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003249.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003249.json
new file mode 100644
index 0000000000000000000000000000000000000000..12110a8d08ae171431f4c5d55b8f3642dbe9ea32
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003249.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the orange drink bottle with label and give it a shake.",
+    "Grab the orange bottle with the right arm and shake.",
+    "Pick the orange bottle up with the right arm and shake.",
+    "Hold the grooved orange drink bottle with the right arm and shake lightly.",
+    "Using the right arm, shake the light and medium-sized bottle and then place it back.",
+    "Lift the medium bottle with colorful label and shake it gently.",
+    "Lift the grooved orange drink bottle with the right arm and shake it.",
+    "Shake the orange bottle firmly after grabbing.",
+    "Shake the light and medium-sized bottle after grabbing it.",
+    "Utilize the right arm to hold the grooved orange drink bottle and shake it.",
+    "Lift the light and medium-sized bottle with the right arm and give it a shake.",
+    "Hold the curved orange soda bottle steady, then shake it.",
+    "Lift the grooved orange drink bottle and shake it thoroughly.",
+    "Use the right arm to lift and shake the orange drink bottle with label.",
+    "Hold and shake the the bottle for holding drinks carefully.",
+    "Shake the plastic bottle using the right arm after grabbing.",
+    "Shake the the orange drink bottle with label properly after lifting.",
+    "Take the orange bottle using the right arm and give it a shake.",
+    "Use the right arm to hold the orange drink bottle with label and shake it.",
+    "Use the right arm to pick and shake the plastic bottle.",
+    "Shake the orange bottle after holding it firmly.",
+    "Catch the curved orange soda bottle and shake it instantly.",
+    "Lift up the cylindrical orange plastic bottle using the right arm, then shake.",
+    "With the right arm, pick the ridged orange bottle with grooves and shake properly.",
+    "Use the right arm to grab the grooved orange drink bottle and shake properly.",
+    "Use the right arm to grab the smooth orange bottle and shake it.",
+    "Use the right arm to lift and shake the orange bottle.",
+    "Pick the smooth orange bottle, shake it with the right arm.",
+    "Pick the grooved orange drink bottle and perform shaking motion.",
+    "Grab the cylindrical orange plastic bottle using the right arm, then shake.",
+    "Grasp the light and medium-sized bottle with the right arm and shake it.",
+    "Secure the medium bottle with colorful label and perform a shake.",
+    "Grab the cylindrical orange plastic bottle and shake it steadily.",
+    "Grip the orange drink bottle with label using the right arm and shake.",
+    "Grab the ridged orange bottle with grooves firmly, shake it, and put it down.",
+    "Shake the grooved orange drink bottle after lifting it.",
+    "Shake the plastic bottle after grabbing it.",
+    "Pick up the orange drink bottle with label and shake it well.",
+    "Grab and shake the smooth orange bottle using the right arm.",
+    "Grab the bottle for holding drinks and move it to shake.",
+    "Lift the curved orange soda bottle with the right arm and shake.",
+    "Secure the round-bottom bottle with white cap, shake it, and place it down.",
+    "Hold the plastic bottle, shake it briefly.",
+    "Hold the round-bottom bottle with white cap and shake it properly.",
+    "Use the right arm to lift and shake the medium bottle with colorful label.",
+    "Shake the curved orange soda bottle thoroughly after grabbing it.",
+    "Pick the plastic bottle up using the right arm and shake it.",
+    "Pick up the orange bottle and shake it.",
+    "Shake the cylindrical orange plastic bottle after grabbing it.",
+    "Grab the orange drink bottle with label carefully and shake.",
+    "Grab the grooved orange drink bottle and give it a shake.",
+    "Grab the cylindrical orange plastic bottle with the right arm and shake.",
+    "Pick the cylindrical orange plastic bottle up with the right arm and shake.",
+    "Hold the cylindrical orange plastic bottle with the right arm and shake lightly.",
+    "Using the right arm, shake the light and medium-sized bottle and then place it back.",
+    "Lift the plastic bottle and shake it gently.",
+    "Lift the round-bottom bottle with white cap with the right arm and shake it.",
+    "Shake the cylindrical orange plastic bottle firmly after grabbing.",
+    "Shake the bottle for holding drinks after grabbing it.",
+    "Utilize the right arm to hold the curved orange soda bottle and shake it.",
+    "Lift the orange bottle with the right arm and give it a shake.",
+    "Hold the smooth orange bottle steady, then shake it.",
+    "Lift the grooved orange drink bottle and shake it thoroughly.",
+    "Use the right arm to lift and shake the bottle for holding drinks.",
+    "Hold and shake the the grooved orange drink bottle carefully.",
+    "Shake the bottle for holding drinks using the right arm after grabbing.",
+    "Shake the the smooth orange bottle properly after lifting.",
+    "Take the curved orange soda bottle using the right arm and give it a shake.",
+    "Use the right arm to hold the smooth orange bottle and shake it.",
+    "Use the right arm to pick and shake the orange bottle.",
+    "Shake the plastic bottle after holding it firmly.",
+    "Catch the light and medium-sized bottle and shake it instantly.",
+    "Lift up the ridged orange bottle with grooves using the right arm, then shake.",
+    "With the right arm, pick the cylindrical orange plastic bottle and shake properly.",
+    "Use the right arm to grab the smooth orange bottle and shake properly.",
+    "Use the right arm to grab the orange bottle and shake it.",
+    "Use the right arm to lift and shake the curved orange soda bottle.",
+    "Pick the light and medium-sized bottle, shake it with the right arm.",
+    "Pick the smooth orange bottle and perform shaking motion.",
+    "Grab the orange drink bottle with label using the right arm, then shake.",
+    "Grasp the medium bottle with colorful label with the right arm and shake it.",
+    "Secure the round-bottom bottle with white cap and perform a shake.",
+    "Grab the plastic bottle and shake it steadily.",
+    "Grip the curved orange soda bottle using the right arm and shake.",
+    "Grab the cylindrical orange plastic bottle firmly, shake it, and put it down.",
+    "Shake the cylindrical orange plastic bottle after lifting it.",
+    "Shake the bottle for holding drinks after grabbing it.",
+    "Pick up the light and medium-sized bottle and shake it well.",
+    "Grab and shake the ridged orange bottle with grooves using the right arm.",
+    "Grab the orange drink bottle with label and move it to shake.",
+    "Lift the orange drink bottle with label with the right arm and shake.",
+    "Secure the ridged orange bottle with grooves, shake it, and place it down.",
+    "Hold the grooved orange drink bottle, shake it briefly.",
+    "Hold the grooved orange drink bottle and shake it properly.",
+    "Use the right arm to lift and shake the ridged orange bottle with grooves.",
+    "Shake the grooved orange drink bottle thoroughly after grabbing it.",
+    "Pick the orange drink bottle with label up using the right arm and shake it.",
+    "Pick up the orange bottle and shake it.",
+    "Shake the orange bottle after grabbing it.",
+    "Grab the medium bottle with colorful label carefully and shake."
+  ],
+  "unseen": [
+    "Shake the bottle with ridged orange grip after picking it with the right arm.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Use the right arm to grab the bottle with ridged orange grip and shake.",
+    "Use the right arm to pick the bottle with ridged orange grip.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Pick and shake the the bottle with ridged orange grip with the right arm.",
+    "Pick up the bottle with ridged orange grip with the right arm and shake.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Shake the bottle with ridged orange grip after picking it with the right arm.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Use the right arm to grab the bottle with ridged orange grip and shake.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "Pick up the bottle with white cap and shake it.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Pick and shake the the bottle with ridged orange grip with the right arm.",
+    "Pick up the bottle with white cap with the right arm and shake.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Shake the white capped orange plastic bottle after picking it with the right arm.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Use the right arm to grab the bottle with white cap and shake.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Pick and shake the the bottle with ridged orange grip with the right arm.",
+    "Pick up the bottle with white cap with the right arm and shake.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Shake the white capped orange plastic bottle after picking it with the right arm.",
+    "Grab the bottle with white cap and shake it.",
+    "Use the right arm to grab the bottle with white cap and shake.",
+    "Use the right arm to pick the bottle with ridged orange grip.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Pick and shake the the bottle with ridged orange grip with the right arm.",
+    "Pick up the white capped orange plastic bottle with the right arm and shake.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Shake the bottle with white cap after picking it with the right arm.",
+    "Grab the bottle with white cap and shake it.",
+    "Use the right arm to grab the white capped orange plastic bottle and shake.",
+    "Use the right arm to pick the bottle with white cap.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Pick and shake the the bottle with ridged orange grip with the right arm.",
+    "Pick up the bottle with white cap with the right arm and shake.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Shake the bottle with ridged orange grip after picking it with the right arm.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Use the right arm to grab the white capped orange plastic bottle and shake.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "Pick up the bottle with white cap and shake it.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Pick and shake the the bottle with ridged orange grip with the right arm.",
+    "Pick up the bottle with ridged orange grip with the right arm and shake.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Shake the white capped orange plastic bottle after picking it with the right arm.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Use the right arm to grab the white capped orange plastic bottle and shake.",
+    "Use the right arm to pick the bottle with ridged orange grip.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Pick and shake the the bottle with ridged orange grip with the right arm.",
+    "Pick up the bottle with ridged orange grip with the right arm and shake.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Shake the bottle with ridged orange grip after picking it with the right arm.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Use the right arm to grab the bottle with white cap and shake.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Pick and shake the the bottle with ridged orange grip with the right arm.",
+    "Pick up the bottle with white cap with the right arm and shake.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Shake the white capped orange plastic bottle after picking it with the right arm.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Use the right arm to grab the bottle with white cap and shake.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "Pick up the bottle with white cap and shake it.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Pick and shake the the bottle with white cap with the right arm.",
+    "Pick up the white capped orange plastic bottle with the right arm and shake.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Shake the bottle with white cap after picking it with the right arm.",
+    "Grab the bottle with white cap and shake it.",
+    "Use the right arm to grab the white capped orange plastic bottle and shake.",
+    "Use the right arm to pick the bottle with white cap.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Pick and shake the the white capped orange plastic bottle with the right arm.",
+    "Pick up the white capped orange plastic bottle with the right arm and shake.",
+    "Grab the bottle with ridged orange grip and give it a shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003266.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003266.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f152ee372643731ca1d6b1b75e3db0b228c9dbc
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10003266.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the cylindrical orange bottle with yellow top, shake it, and place it down.",
+    "Use the left arm to lift and shake the yellow-capped plastic bottle.",
+    "Shake the orange cylindrical bottle thoroughly after grabbing it.",
+    "Shake the bottle with yellow cap firmly after grabbing.",
+    "Lift the orange cylindrical bottle with the left arm and shake it.",
+    "Use the left arm to grab the yellow-capped plastic bottle and shake properly.",
+    "Lift up the medium-sized orange bottle using the left arm, then shake.",
+    "Grab the orange bottle and shake it steadily.",
+    "Use the left arm to lift and shake the orange bottle.",
+    "Grip the bottle with printed label using the left arm and shake.",
+    "Grab and shake the plastic bottle using the left arm.",
+    "Pick up the plastic bottle and shake it well.",
+    "Grasp the medium-sized orange bottle with the left arm and shake it.",
+    "Pick up the bottle for liquids and shake it.",
+    "Hold the bottle with narrow neck, shake it briefly.",
+    "Secure the plastic bottle with sealed yellow cap and perform a shake.",
+    "Lift the smooth plastic bottle with the left arm and give it a shake.",
+    "Hold the bottle for liquids and shake it properly.",
+    "Grab the plastic bottle using the left arm, then shake.",
+    "Pick the orange bottle and perform shaking motion.",
+    "Grab the cylindrical orange bottle with yellow top carefully and shake.",
+    "With the left arm, pick the bottle with printed label and shake properly.",
+    "Pick the bottle for liquids, shake it with the left arm.",
+    "Shake the smooth plastic bottle using the left arm after grabbing.",
+    "Use the left arm to grab the yellow-capped plastic bottle and shake it.",
+    "Grab the yellow-capped plastic bottle with the left arm and shake.",
+    "Hold the cylindrical orange bottle with yellow top with the left arm and shake lightly.",
+    "Take the bottle with yellow cap using the left arm and give it a shake.",
+    "Hold the cylindrical orange bottle with yellow top steady, then shake it.",
+    "Using the left arm, shake the plastic bottle and then place it back.",
+    "Shake the bottle for liquids after grabbing it.",
+    "Lift the bottle for liquids and shake it thoroughly.",
+    "Catch the bottle with yellow cap and shake it instantly.",
+    "Use the left arm to hold the bottle for liquids and shake it.",
+    "Pick the bottle with narrow neck up using the left arm and shake it.",
+    "Use the left arm to pick and shake the plastic bottle with sealed yellow cap.",
+    "Shake the orange cylindrical bottle after grabbing it.",
+    "Shake the the orange bottle properly after lifting.",
+    "Grab the medium-sized orange bottle and move it to shake.",
+    "Pick the cylindrical orange bottle with yellow top up with the left arm and shake.",
+    "Utilize the left arm to hold the bottle with narrow neck and shake it.",
+    "Lift the orange bottle with the left arm and shake.",
+    "Shake the bottle with narrow neck after lifting it.",
+    "Lift the orange cylindrical bottle and shake it gently.",
+    "Use the left arm to lift and shake the bottle for liquids.",
+    "Shake the bottle with narrow neck after grabbing it.",
+    "Hold and shake the the bottle with printed label carefully.",
+    "Shake the bottle for liquids after holding it firmly.",
+    "Grab the orange cylindrical bottle and give it a shake.",
+    "Grab the orange bottle firmly, shake it, and put it down.",
+    "Secure the smooth plastic bottle, shake it, and place it down.",
+    "Use the left arm to lift and shake the medium-sized orange bottle.",
+    "Shake the bottle for liquids thoroughly after grabbing it.",
+    "Shake the bottle with yellow cap firmly after grabbing.",
+    "Lift the bottle with printed label with the left arm and shake it.",
+    "Use the left arm to grab the smooth plastic bottle and shake properly.",
+    "Lift up the bottle with narrow neck using the left arm, then shake.",
+    "Grab the cylindrical orange bottle with yellow top and shake it steadily.",
+    "Use the left arm to lift and shake the orange cylindrical bottle.",
+    "Grip the bottle with narrow neck using the left arm and shake.",
+    "Grab and shake the bottle for liquids using the left arm.",
+    "Pick up the plastic bottle and shake it well.",
+    "Grasp the plastic bottle with sealed yellow cap with the left arm and shake it.",
+    "Pick up the orange bottle and shake it.",
+    "Hold the bottle for liquids, shake it briefly.",
+    "Secure the plastic bottle with sealed yellow cap and perform a shake.",
+    "Lift the bottle for liquids with the left arm and give it a shake.",
+    "Hold the cylindrical orange bottle with yellow top and shake it properly.",
+    "Grab the bottle with yellow cap using the left arm, then shake.",
+    "Pick the bottle with printed label and perform shaking motion.",
+    "Grab the smooth plastic bottle carefully and shake.",
+    "With the left arm, pick the orange cylindrical bottle and shake properly.",
+    "Pick the smooth plastic bottle, shake it with the left arm.",
+    "Shake the plastic bottle with sealed yellow cap using the left arm after grabbing.",
+    "Use the left arm to grab the cylindrical orange bottle with yellow top and shake it.",
+    "Grab the bottle for liquids with the left arm and shake.",
+    "Hold the bottle with printed label with the left arm and shake lightly.",
+    "Take the plastic bottle using the left arm and give it a shake.",
+    "Hold the bottle with yellow cap steady, then shake it.",
+    "Using the left arm, shake the orange cylindrical bottle and then place it back.",
+    "Shake the medium-sized orange bottle after grabbing it.",
+    "Lift the orange bottle and shake it thoroughly.",
+    "Catch the bottle with printed label and shake it instantly.",
+    "Use the left arm to hold the yellow-capped plastic bottle and shake it.",
+    "Pick the yellow-capped plastic bottle up using the left arm and shake it.",
+    "Use the left arm to pick and shake the cylindrical orange bottle with yellow top.",
+    "Shake the orange cylindrical bottle after grabbing it.",
+    "Shake the the bottle with yellow cap properly after lifting.",
+    "Grab the cylindrical orange bottle with yellow top and move it to shake.",
+    "Pick the cylindrical orange bottle with yellow top up with the left arm and shake.",
+    "Utilize the left arm to hold the bottle with yellow cap and shake it.",
+    "Lift the smooth plastic bottle with the left arm and shake.",
+    "Shake the bottle for liquids after lifting it.",
+    "Lift the plastic bottle and shake it gently.",
+    "Use the left arm to lift and shake the yellow-capped plastic bottle.",
+    "Shake the yellow-capped plastic bottle after grabbing it.",
+    "Hold and shake the the orange bottle carefully.",
+    "Shake the orange cylindrical bottle after holding it firmly.",
+    "Grab the plastic bottle with sealed yellow cap and give it a shake.",
+    "Grab the orange bottle firmly, shake it, and put it down."
+  ],
+  "unseen": [
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Grab the handheld orange bottle and shake it.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Grab the handheld orange bottle and shake it.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Grab the handheld orange bottle and shake it.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Grab the handheld orange bottle and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Shake the label-covered orange bottle after picking it with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004018.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004018.json
new file mode 100644
index 0000000000000000000000000000000000000000..bad8b916ceb5d8ce7a3b757a26e207bb8d4067cf
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004018.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to lift and shake the bottle with narrow neck.",
+    "Grab the plastic bottle carefully and shake.",
+    "Hold the yellow-capped plastic bottle steady, then shake it.",
+    "Shake the medium-sized orange bottle after grabbing it.",
+    "Use the left arm to lift and shake the bottle with yellow cap.",
+    "Take the orange bottle using the left arm and give it a shake.",
+    "Hold the bottle for liquids with the left arm and shake lightly.",
+    "Use the left arm to hold the bottle for liquids and shake it.",
+    "Grab the cylindrical orange bottle with yellow top and give it a shake.",
+    "Using the left arm, shake the bottle with yellow cap and then place it back.",
+    "Shake the plastic bottle with sealed yellow cap after lifting it.",
+    "Lift the smooth plastic bottle with the left arm and shake.",
+    "Use the left arm to grab the bottle with yellow cap and shake it.",
+    "Use the left arm to pick and shake the bottle with printed label.",
+    "Use the left arm to lift and shake the bottle with printed label.",
+    "Shake the plastic bottle with sealed yellow cap after grabbing it.",
+    "Pick the bottle for liquids and perform shaking motion.",
+    "Pick the orange cylindrical bottle up with the left arm and shake.",
+    "Lift the bottle with printed label with the left arm and give it a shake.",
+    "Lift the cylindrical orange bottle with yellow top with the left arm and shake it.",
+    "Grip the smooth plastic bottle using the left arm and shake.",
+    "Grab the orange bottle and shake it steadily.",
+    "Pick the yellow-capped plastic bottle up using the left arm and shake it.",
+    "Grab and shake the bottle for liquids using the left arm.",
+    "Grab the bottle with narrow neck and move it to shake.",
+    "Hold the medium-sized orange bottle and shake it properly.",
+    "With the left arm, pick the orange bottle and shake properly.",
+    "Lift the medium-sized orange bottle and shake it gently.",
+    "Pick the medium-sized orange bottle, shake it with the left arm.",
+    "Shake the cylindrical orange bottle with yellow top after grabbing it.",
+    "Shake the smooth plastic bottle using the left arm after grabbing.",
+    "Shake the yellow-capped plastic bottle after holding it firmly.",
+    "Secure the bottle with printed label, shake it, and place it down.",
+    "Catch the bottle with narrow neck and shake it instantly.",
+    "Grab the cylindrical orange bottle with yellow top using the left arm, then shake.",
+    "Shake the orange cylindrical bottle thoroughly after grabbing it.",
+    "Grab the medium-sized orange bottle firmly, shake it, and put it down.",
+    "Grasp the plastic bottle with the left arm and shake it.",
+    "Hold the cylindrical orange bottle with yellow top, shake it briefly.",
+    "Pick up the plastic bottle with sealed yellow cap and shake it well.",
+    "Secure the orange cylindrical bottle and perform a shake.",
+    "Lift up the cylindrical orange bottle with yellow top using the left arm, then shake.",
+    "Shake the bottle with narrow neck firmly after grabbing.",
+    "Grab the medium-sized orange bottle with the left arm and shake.",
+    "Shake the the bottle with printed label properly after lifting.",
+    "Utilize the left arm to hold the plastic bottle and shake it.",
+    "Lift the yellow-capped plastic bottle and shake it thoroughly.",
+    "Use the left arm to grab the bottle with narrow neck and shake properly.",
+    "Pick up the medium-sized orange bottle and shake it.",
+    "Hold and shake the the bottle with yellow cap carefully.",
+    "Use the left arm to lift and shake the bottle with printed label.",
+    "Grab the orange cylindrical bottle carefully and shake.",
+    "Hold the smooth plastic bottle steady, then shake it.",
+    "Shake the bottle with printed label after grabbing it.",
+    "Use the left arm to lift and shake the orange bottle.",
+    "Take the medium-sized orange bottle using the left arm and give it a shake.",
+    "Hold the bottle with narrow neck with the left arm and shake lightly.",
+    "Use the left arm to hold the medium-sized orange bottle and shake it.",
+    "Grab the orange cylindrical bottle and give it a shake.",
+    "Using the left arm, shake the cylindrical orange bottle with yellow top and then place it back.",
+    "Shake the plastic bottle after lifting it.",
+    "Lift the plastic bottle with the left arm and shake.",
+    "Use the left arm to grab the orange bottle and shake it.",
+    "Use the left arm to pick and shake the bottle with narrow neck.",
+    "Use the left arm to lift and shake the bottle with narrow neck.",
+    "Shake the orange cylindrical bottle after grabbing it.",
+    "Pick the bottle with yellow cap and perform shaking motion.",
+    "Pick the bottle for liquids up with the left arm and shake.",
+    "Lift the orange bottle with the left arm and give it a shake.",
+    "Lift the bottle with yellow cap with the left arm and shake it.",
+    "Grip the orange cylindrical bottle using the left arm and shake.",
+    "Grab the bottle for liquids and shake it steadily.",
+    "Pick the cylindrical orange bottle with yellow top up using the left arm and shake it.",
+    "Grab and shake the plastic bottle using the left arm.",
+    "Grab the smooth plastic bottle and move it to shake.",
+    "Hold the smooth plastic bottle and shake it properly.",
+    "With the left arm, pick the orange cylindrical bottle and shake properly.",
+    "Lift the bottle with narrow neck and shake it gently.",
+    "Pick the plastic bottle, shake it with the left arm.",
+    "Shake the bottle with yellow cap after grabbing it.",
+    "Shake the plastic bottle using the left arm after grabbing.",
+    "Shake the plastic bottle after holding it firmly.",
+    "Secure the plastic bottle with sealed yellow cap, shake it, and place it down.",
+    "Catch the bottle with narrow neck and shake it instantly.",
+    "Grab the plastic bottle with sealed yellow cap using the left arm, then shake.",
+    "Shake the bottle with printed label thoroughly after grabbing it.",
+    "Grab the bottle with yellow cap firmly, shake it, and put it down.",
+    "Grasp the smooth plastic bottle with the left arm and shake it.",
+    "Hold the orange bottle, shake it briefly.",
+    "Pick up the orange bottle and shake it well.",
+    "Secure the bottle with narrow neck and perform a shake.",
+    "Lift up the plastic bottle with sealed yellow cap using the left arm, then shake.",
+    "Shake the bottle with yellow cap firmly after grabbing.",
+    "Grab the bottle for liquids with the left arm and shake.",
+    "Shake the the plastic bottle with sealed yellow cap properly after lifting.",
+    "Utilize the left arm to hold the plastic bottle and shake it.",
+    "Lift the bottle with narrow neck and shake it thoroughly.",
+    "Use the left arm to grab the plastic bottle and shake properly.",
+    "Pick up the bottle with printed label and shake it.",
+    "Hold and shake the the smooth plastic bottle carefully."
+  ],
+  "unseen": [
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the handheld orange bottle and shake it.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Pick 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 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 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.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "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 grab the orange bottle with smooth texture and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the handheld orange bottle and shake it.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick 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 grab the orange bottle with smooth texture and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "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 label-covered orange bottle and shake it.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "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 grab the handheld orange bottle and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the handheld orange bottle 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.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "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 grab the label-covered orange bottle and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick 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 grab the label-covered orange bottle and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the handheld orange bottle and shake it.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick 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 grab the label-covered orange bottle and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the handheld orange bottle and shake it.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004126.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004126.json
new file mode 100644
index 0000000000000000000000000000000000000000..4072fb49950e635fcbe3aa3113d4ce4108cc5024
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004126.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grasp the white-capped brown cylindrical bottle with the left arm and shake it.",
+    "Lift the bottle with brown body and white top with the left arm and give it a shake.",
+    "Grab the bottle with brown body and white top and move it to shake.",
+    "Use the left arm to pick and shake the handheld brown bottle with white lid.",
+    "Lift the plastic bottle for liquids with the left arm and shake it.",
+    "Pick the rounded bottle with printed details up with the left arm and shake.",
+    "Shake the handheld brown bottle with white lid after lifting it.",
+    "Shake the the plastic bottle for liquids properly after lifting.",
+    "Use the left arm to hold the bottle with dark brown color and shake it.",
+    "Hold the bottle with white cap and shake it properly.",
+    "Grab and shake the medium bottle with smooth texture using the left arm.",
+    "Grab the cylindrical bottle with narrow neck carefully and shake.",
+    "Grab the bottle with white cap with the left arm and shake.",
+    "Grab the bottle with dark brown color and shake it steadily.",
+    "Hold the smooth brown bottle steady, then shake it.",
+    "Hold the white-capped brown cylindrical bottle with the left arm and shake lightly.",
+    "Use the left arm to grab the bottle with brown body and white top and shake properly.",
+    "Shake the bottle with dark brown color after grabbing it.",
+    "Use the left arm to lift and shake the medium plastic bottle.",
+    "Grab the plastic bottle with printed label firmly, shake it, and put it down.",
+    "Lift up the white-capped brown cylindrical bottle using the left arm, then shake.",
+    "Shake the bottle with dark brown color thoroughly after grabbing it.",
+    "Use the left arm to grab the smooth brown bottle and shake it.",
+    "Hold the medium bottle with smooth texture, shake it briefly.",
+    "Hold and shake the the bottle with brown body and white top carefully.",
+    "With the left arm, pick the plastic bottle for liquids and shake properly.",
+    "Lift the medium plastic bottle with the left arm and shake.",
+    "Grip the medium bottle with smooth texture using the left arm and shake.",
+    "Catch the handheld brown bottle with white lid and shake it instantly.",
+    "Pick the bottle with dark brown color, shake it with the left arm.",
+    "Secure the plastic bottle with printed label, shake it, and place it down.",
+    "Secure the rounded bottle with printed details and perform a shake.",
+    "Shake the medium bottle with smooth texture after holding it firmly.",
+    "Grab the bottle with dark brown color and give it a shake.",
+    "Shake the bottle with brown body and white top after grabbing it.",
+    "Pick up the plastic bottle with printed label and shake it.",
+    "Pick the plastic bottle for liquids up using the left arm and shake it.",
+    "Pick up the medium bottle with smooth texture and shake it well.",
+    "Use the left arm to lift and shake the medium bottle with smooth texture.",
+    "Lift the cylindrical bottle with narrow neck and shake it thoroughly.",
+    "Shake the plastic bottle with printed label firmly after grabbing.",
+    "Shake the handheld brown bottle with white lid after grabbing it.",
+    "Grab the rounded bottle with printed details using the left arm, then shake.",
+    "Use the left arm to lift and shake the medium plastic bottle.",
+    "Shake the cylindrical bottle with narrow neck using the left arm after grabbing.",
+    "Lift the medium bottle with smooth texture and shake it gently.",
+    "Take the plastic bottle for liquids using the left arm and give it a shake.",
+    "Using the left arm, shake the bottle with brown body and white top and then place it back.",
+    "Pick the bottle with brown body and white top and perform shaking motion.",
+    "Utilize the left arm to hold the handheld brown bottle with white lid and shake it.",
+    "Grasp the medium plastic bottle with the left arm and shake it.",
+    "Lift the bottle with white cap with the left arm and give it a shake.",
+    "Grab the smooth brown bottle and move it to shake.",
+    "Use the left arm to pick and shake the smooth brown bottle.",
+    "Lift the smooth brown bottle with the left arm and shake it.",
+    "Pick the plastic bottle with printed label up with the left arm and shake.",
+    "Shake the white-capped brown cylindrical bottle after lifting it.",
+    "Shake the the bottle with brown body and white top properly after lifting.",
+    "Use the left arm to hold the rounded bottle with printed details and shake it.",
+    "Hold the smooth brown bottle and shake it properly.",
+    "Grab and shake the medium plastic bottle using the left arm.",
+    "Grab the bottle with dark brown color carefully and shake.",
+    "Grab the bottle with dark brown color with the left arm and shake.",
+    "Grab the medium bottle with smooth texture and shake it steadily.",
+    "Hold the plastic bottle for liquids steady, then shake it.",
+    "Hold the medium bottle with smooth texture with the left arm and shake lightly.",
+    "Use the left arm to grab the cylindrical bottle with narrow neck and shake properly.",
+    "Shake the plastic bottle with printed label after grabbing it.",
+    "Use the left arm to lift and shake the cylindrical bottle with narrow neck.",
+    "Grab the cylindrical bottle with narrow neck firmly, shake it, and put it down.",
+    "Lift up the rounded bottle with printed details using the left arm, then shake.",
+    "Shake the medium bottle with smooth texture thoroughly after grabbing it.",
+    "Use the left arm to grab the handheld brown bottle with white lid and shake it.",
+    "Hold the smooth brown bottle, shake it briefly.",
+    "Hold and shake the the plastic bottle with printed label carefully.",
+    "With the left arm, pick the plastic bottle for liquids and shake properly.",
+    "Lift the cylindrical bottle with narrow neck with the left arm and shake.",
+    "Grip the handheld brown bottle with white lid using the left arm and shake.",
+    "Catch the handheld brown bottle with white lid and shake it instantly.",
+    "Pick the plastic bottle with printed label, shake it with the left arm.",
+    "Secure the medium bottle with smooth texture, shake it, and place it down.",
+    "Secure the rounded bottle with printed details and perform a shake.",
+    "Shake the bottle with brown body and white top after holding it firmly.",
+    "Grab the medium plastic bottle and give it a shake.",
+    "Shake the handheld brown bottle with white lid after grabbing it.",
+    "Pick up the bottle with brown body and white top and shake it.",
+    "Pick the bottle with white cap up using the left arm and shake it.",
+    "Pick up the plastic bottle for liquids and shake it well.",
+    "Use the left arm to lift and shake the bottle with brown body and white top.",
+    "Lift the medium bottle with smooth texture and shake it thoroughly.",
+    "Shake the plastic bottle with printed label firmly after grabbing.",
+    "Shake the handheld brown bottle with white lid after grabbing it.",
+    "Grab the bottle with dark brown color using the left arm, then shake.",
+    "Use the left arm to lift and shake the bottle with white cap.",
+    "Shake the white-capped brown cylindrical bottle using the left arm after grabbing.",
+    "Lift the medium plastic bottle and shake it gently.",
+    "Take the handheld brown bottle with white lid using the left arm and give it a shake.",
+    "Using the left arm, shake the rounded bottle with printed details and then place it back.",
+    "Pick the rounded bottle with printed details and perform shaking motion.",
+    "Utilize the left arm to hold the medium plastic bottle and shake it."
+  ],
+  "unseen": [
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Use the left arm to pick the lightweight plastic brown bottle.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Shake the brown bottle after picking it with the left arm.",
+    "Use the left arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick up the lightweight plastic brown bottle with the left arm and shake.",
+    "Grab the brown bottle and shake it.",
+    "Use the left arm to pick the brown bottle.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick and shake the the brown cylindrical bottle with label with the left arm.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Shake the lightweight plastic brown bottle after picking it with the left arm.",
+    "Use the left arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick up the brown bottle with the left arm and shake.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Use the left arm to pick the brown cylindrical bottle with label.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Shake the brown cylindrical bottle with label after picking it with the left arm.",
+    "Use the left arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick up the brown cylindrical bottle with label with the left arm and shake.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Use the left arm to pick the brown bottle.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Shake the brown bottle after picking it with the left arm.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Pick up the lightweight plastic brown bottle with the left arm and shake.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Use the left arm to pick the lightweight plastic brown bottle.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Shake the lightweight plastic brown bottle after picking it with the left arm.",
+    "Use the left arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick up the brown bottle with the left arm and shake.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Use the left arm to pick the lightweight plastic brown bottle.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick and shake the the brown cylindrical bottle with label with the left arm.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Shake the brown cylindrical bottle with label after picking it with the left arm.",
+    "Use the left arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick up the brown cylindrical bottle with label with the left arm and shake.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Use the left arm to pick the lightweight plastic brown bottle.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick and shake the the brown cylindrical bottle with label with the left arm.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Shake the brown cylindrical bottle with label after picking it with the left arm.",
+    "Use the left arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick up the brown bottle with the left arm and shake.",
+    "Grab the brown bottle and shake it.",
+    "Use the left arm to pick the brown cylindrical bottle with label.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick and shake the the brown cylindrical bottle with label with the left arm.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Shake the brown cylindrical bottle with label after picking it with the left arm.",
+    "Use the left arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick up the lightweight plastic brown bottle with the left arm and shake.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Use the left arm to pick the brown bottle.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick and shake the the lightweight plastic brown bottle with the left arm.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Shake the lightweight plastic brown bottle after picking it with the left arm.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Pick up the brown cylindrical bottle with label with the left arm and shake.",
+    "Grab the brown bottle and shake it.",
+    "Use the left arm to pick the lightweight plastic brown bottle.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick and shake the the brown cylindrical bottle with label with the left arm.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Shake the lightweight plastic brown bottle after picking it with the left arm.",
+    "Use the left arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick up the brown bottle with the left arm and shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004192.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004192.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cd066bfc3d084436a7fe39378aa94bf1ddcabc1
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004192.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the medium bottle for beverages steady, then shake it.",
+    "Hold the plastic bottle, shake it briefly.",
+    "Grip the cylindrical bottle using the left arm and shake.",
+    "Lift the medium bottle for beverages and shake it thoroughly.",
+    "Shake the bottle for liquids after grabbing it.",
+    "Shake the handheld bottle after lifting it.",
+    "Lift the bottle with blue cap and shake it gently.",
+    "Grab the bottle with blue cap using the left arm, then shake.",
+    "Hold the blue bottle with label and shake it properly.",
+    "Take the handheld bottle using the left arm and give it a shake.",
+    "Pick up the handheld bottle and shake it well.",
+    "Shake the plastic bottle thoroughly after grabbing it.",
+    "Using the left arm, shake the plastic bottle and then place it back.",
+    "With the left arm, pick the medium-sized bottle and shake properly.",
+    "Utilize the left arm to hold the bottle with blue cap and shake it.",
+    "Use the left arm to lift and shake the cylindrical bottle.",
+    "Pick the cylindrical bottle up with the left arm and shake.",
+    "Pick the cylindrical bottle up using the left arm and shake it.",
+    "Hold the plastic bottle with the left arm and shake lightly.",
+    "Use the left arm to lift and shake the plastic bottle.",
+    "Grab the white bottle with blue accents and move it to shake.",
+    "Grab the medium bottle for beverages carefully and shake.",
+    "Lift the handheld bottle with the left arm and shake.",
+    "Pick the cylindrical bottle and perform shaking motion.",
+    "Use the left arm to hold the medium-sized bottle and shake it.",
+    "Lift the white and blue bottle with the left arm and give it a shake.",
+    "Use the left arm to pick and shake the medium-sized bottle.",
+    "Shake the the medium-sized bottle properly after lifting.",
+    "Grab the white bottle with blue accents and shake it steadily.",
+    "Use the left arm to grab the bottle with blue cap and shake it.",
+    "Pick the blue bottle with label, shake it with the left arm.",
+    "Secure the white bottle with blue accents, shake it, and place it down.",
+    "Grab the bottle for liquids firmly, shake it, and put it down.",
+    "Grab the blue bottle with label with the left arm and shake.",
+    "Lift the blue bottle with label with the left arm and shake it.",
+    "Shake the medium bottle for beverages after holding it firmly.",
+    "Secure the blue bottle with label and perform a shake.",
+    "Use the left arm to grab the medium bottle for beverages and shake properly.",
+    "Lift up the plastic bottle using the left arm, then shake.",
+    "Shake the blue bottle with label firmly after grabbing.",
+    "Pick up the blue bottle and shake it.",
+    "Catch the handheld bottle and shake it instantly.",
+    "Shake the cylindrical bottle using the left arm after grabbing.",
+    "Hold and shake the the medium-sized bottle carefully.",
+    "Grab and shake the bottle for liquids using the left arm.",
+    "Grab the blue bottle and give it a shake.",
+    "Grasp the handheld bottle with the left arm and shake it.",
+    "Use the left arm to lift and shake the white bottle with blue accents.",
+    "Shake the bottle with blue cap after grabbing it.",
+    "Shake the white and blue bottle after grabbing it.",
+    "Hold the cylindrical bottle steady, then shake it.",
+    "Hold the smooth plastic bottle, shake it briefly.",
+    "Grip the white and blue bottle using the left arm and shake.",
+    "Lift the medium bottle for beverages and shake it thoroughly.",
+    "Shake the blue bottle after grabbing it.",
+    "Shake the handheld bottle after lifting it.",
+    "Lift the plastic bottle and shake it gently.",
+    "Grab the handheld bottle using the left arm, then shake.",
+    "Hold the bottle with blue cap and shake it properly.",
+    "Take the white bottle with blue accents using the left arm and give it a shake.",
+    "Pick up the cylindrical bottle and shake it well.",
+    "Shake the plastic bottle thoroughly after grabbing it.",
+    "Using the left arm, shake the plastic bottle and then place it back.",
+    "With the left arm, pick the plastic bottle and shake properly.",
+    "Utilize the left arm to hold the blue bottle and shake it.",
+    "Use the left arm to lift and shake the plastic bottle.",
+    "Pick the plastic bottle up with the left arm and shake.",
+    "Pick the bottle with blue cap up using the left arm and shake it.",
+    "Hold the bottle with blue cap with the left arm and shake lightly.",
+    "Use the left arm to lift and shake the cylindrical bottle.",
+    "Grab the bottle with blue cap and move it to shake.",
+    "Grab the bottle for liquids carefully and shake.",
+    "Lift the medium-sized bottle with the left arm and shake.",
+    "Pick the handheld bottle and perform shaking motion.",
+    "Use the left arm to hold the cylindrical bottle and shake it.",
+    "Lift the bottle with blue cap with the left arm and give it a shake.",
+    "Use the left arm to pick and shake the bottle with blue cap.",
+    "Shake the the bottle with blue cap properly after lifting.",
+    "Grab the plastic bottle and shake it steadily.",
+    "Use the left arm to grab the blue bottle and shake it.",
+    "Pick the white bottle with blue accents, shake it with the left arm.",
+    "Secure the medium bottle for beverages, shake it, and place it down.",
+    "Grab the medium bottle for beverages firmly, shake it, and put it down.",
+    "Grab the blue bottle with label with the left arm and shake.",
+    "Lift the smooth plastic bottle with the left arm and shake it.",
+    "Shake the handheld bottle after holding it firmly.",
+    "Secure the smooth plastic bottle and perform a shake.",
+    "Use the left arm to grab the white and blue bottle and shake properly.",
+    "Lift up the smooth plastic bottle using the left arm, then shake.",
+    "Shake the handheld bottle firmly after grabbing.",
+    "Pick up the bottle with blue cap and shake it.",
+    "Catch the white and blue bottle and shake it instantly.",
+    "Shake the bottle with blue cap using the left arm after grabbing.",
+    "Hold and shake the the blue bottle carefully.",
+    "Grab and shake the plastic bottle using the left arm.",
+    "Grab the medium bottle for beverages and give it a shake.",
+    "Grasp the medium-sized bottle with the left arm and shake it.",
+    "Use the left arm to lift and shake the bottle for liquids.",
+    "Shake the medium-sized bottle after grabbing it.",
+    "Shake the white bottle with blue accents after grabbing it."
+  ],
+  "unseen": [
+    "Pick up the blue-capped plastic bottle with the left arm and shake.",
+    "Use the left arm to pick the blue-capped plastic bottle.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Shake the bottle with curved neck design after picking it with the left arm.",
+    "Grab the blue-capped plastic bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with curved neck design and shake.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Pick and shake the the bottle with curved neck design with the left arm.",
+    "Pick up the bottle with curved neck design with the left arm and shake.",
+    "Use the left arm to pick the blue-capped plastic bottle.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Shake the bottle with curved neck design after picking it with the left arm.",
+    "Grab the blue-capped plastic bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with ridged neck and shake.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Pick and shake the the bottle with ridged neck with the left arm.",
+    "Pick up the blue-capped plastic bottle with the left arm and shake.",
+    "Use the left arm to pick the bottle with ridged neck.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Shake the blue-capped plastic bottle after picking it with the left arm.",
+    "Grab the blue-capped plastic bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with ridged neck and shake.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Pick and shake the the bottle with curved neck design with the left arm.",
+    "Pick up the blue-capped plastic bottle with the left arm and shake.",
+    "Use the left arm to pick the bottle with curved neck design.",
+    "Grab the blue-capped plastic bottle and give it a shake.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Shake the bottle with curved neck design after picking it with the left arm.",
+    "Grab the blue-capped plastic bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with ridged neck and shake.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Pick and shake the the blue-capped plastic bottle with the left arm.",
+    "Pick up the bottle with ridged neck with the left arm and shake.",
+    "Use the left arm to pick the bottle with curved neck design.",
+    "Grab the blue-capped plastic bottle and give it a shake.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Shake the bottle with curved neck design after picking it with the left arm.",
+    "Grab the blue-capped plastic bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the blue-capped plastic bottle and shake.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Pick and shake the the bottle with ridged neck with the left arm.",
+    "Pick up the bottle with ridged neck with the left arm and shake.",
+    "Use the left arm to pick the bottle with ridged neck.",
+    "Grab the blue-capped plastic bottle and give it a shake.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Shake the bottle with ridged neck after picking it with the left arm.",
+    "Grab the blue-capped plastic bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with curved neck design and shake.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Pick and shake the the bottle with ridged neck with the left arm.",
+    "Pick up the blue-capped plastic bottle with the left arm and shake.",
+    "Use the left arm to pick the blue-capped plastic bottle.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Shake the bottle with ridged neck after picking it with the left arm.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with curved neck design and shake.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Pick and shake the the bottle with ridged neck with the left arm.",
+    "Pick up the bottle with ridged neck with the left arm and shake.",
+    "Use the left arm to pick the blue-capped plastic bottle.",
+    "Grab the blue-capped plastic bottle and give it a shake.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Shake the blue-capped plastic bottle after picking it with the left arm.",
+    "Grab the bottle with ridged neck, shake it properly, then set it down.",
+    "Use the left arm to grab the blue-capped plastic bottle and shake.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Pick and shake the the blue-capped plastic bottle with the left arm.",
+    "Pick up the blue-capped plastic bottle with the left arm and shake.",
+    "Use the left arm to pick the blue-capped plastic bottle.",
+    "Grab the blue-capped plastic bottle and give it a shake.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Shake the bottle with curved neck design after picking it with the left arm.",
+    "Grab the bottle with ridged neck, shake it properly, then set it down.",
+    "Use the left arm to grab the blue-capped plastic bottle and shake.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Pick and shake the the bottle with ridged neck with the left arm.",
+    "Pick up the bottle with ridged neck with the left arm and shake.",
+    "Use the left arm to pick the bottle with curved neck design.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Shake the blue-capped plastic bottle after picking it with the left arm.",
+    "Grab the blue-capped plastic bottle, shake it properly, then set it down.",
+    "Use the left arm to grab the bottle with ridged neck and shake.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Pick and shake the the blue-capped plastic bottle with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004201.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004201.json
new file mode 100644
index 0000000000000000000000000000000000000000..500809eae4728d2a46d80e873b1c99963de9309d
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004201.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the white and orange plastic bottle and shake it steadily.",
+    "Lift up the drinking bottle with yellow label using the right arm, then shake.",
+    "Pick up the cylindrical orange and white bottle and shake it well.",
+    "Hold the orange and white bottle with cap, shake it briefly.",
+    "Shake the white and orange plastic bottle thoroughly after grabbing it.",
+    "Grab and shake the yellow label bottle using the right arm.",
+    "Use the right arm to lift and shake the bottle with orange cap.",
+    "Grab the drinking bottle with yellow label and give it a shake.",
+    "Lift the bottle with ribbed orange bottom with the right arm and give it a shake.",
+    "Utilize the right arm to hold the orange bottle and shake it.",
+    "Hold the plastic bottle with the right arm and shake lightly.",
+    "Lift the bottle with ribbed orange bottom and shake it thoroughly.",
+    "Use the right arm to grab the orange and white bottle with cap and shake it.",
+    "Using the right arm, shake the medium bottle with orange lid and then place it back.",
+    "Grip the medium bottle with orange lid using the right arm and shake.",
+    "Shake the cylindrical orange and white bottle after holding it firmly.",
+    "Catch the orange bottle and shake it instantly.",
+    "Take the bottle with ribbed orange bottom using the right arm and give it a shake.",
+    "Secure the white and orange plastic bottle, shake it, and place it down.",
+    "Shake the orange and white bottle with cap after lifting it.",
+    "With the right arm, pick the drinking bottle with yellow label and shake properly.",
+    "Shake the the yellow label bottle properly after lifting.",
+    "Hold the medium orange bottle and shake it properly.",
+    "Hold the plastic bottle steady, then shake it.",
+    "Grab the orange bottle firmly, shake it, and put it down.",
+    "Secure the cylindrical orange and white bottle and perform a shake.",
+    "Hold and shake the the drinking bottle with yellow label carefully.",
+    "Pick the bottle with ribbed orange bottom up using the right arm and shake it.",
+    "Lift the bottle with ribbed orange bottom with the right arm and shake it.",
+    "Shake the bottle with ribbed orange bottom using the right arm after grabbing.",
+    "Use the right arm to hold the cylindrical orange and white bottle and shake it.",
+    "Pick up the smooth plastic bottle and shake it.",
+    "Pick the drinking bottle with yellow label and perform shaking motion.",
+    "Pick the white and orange plastic bottle, shake it with the right arm.",
+    "Use the right arm to pick and shake the orange bottle.",
+    "Use the right arm to grab the bottle with orange cap and shake properly.",
+    "Shake the plastic bottle firmly after grabbing.",
+    "Grab the medium bottle with orange lid carefully and shake.",
+    "Shake the smooth plastic bottle after grabbing it.",
+    "Lift the medium orange bottle and shake it gently.",
+    "Use the right arm to lift and shake the medium bottle with orange lid.",
+    "Pick the yellow label bottle up with the right arm and shake.",
+    "Grab the yellow label bottle and move it to shake.",
+    "Use the right arm to lift and shake the bottle with orange cap.",
+    "Grasp the cylindrical orange and white bottle with the right arm and shake it.",
+    "Lift the medium orange bottle with the right arm and shake.",
+    "Grab the plastic bottle with the right arm and shake.",
+    "Shake the bottle with ribbed orange bottom after grabbing it.",
+    "Shake the yellow label bottle after grabbing it.",
+    "Grab the orange and white bottle with cap using the right arm, then shake.",
+    "Grab the cylindrical orange and white bottle and shake it steadily.",
+    "Lift up the drinking bottle with yellow label using the right arm, then shake.",
+    "Pick up the drinking bottle with yellow label and shake it well.",
+    "Hold the orange bottle, shake it briefly.",
+    "Shake the smooth plastic bottle thoroughly after grabbing it.",
+    "Grab and shake the yellow label bottle using the right arm.",
+    "Use the right arm to lift and shake the smooth plastic bottle.",
+    "Grab the drinking bottle with yellow label and give it a shake.",
+    "Lift the cylindrical orange and white bottle with the right arm and give it a shake.",
+    "Utilize the right arm to hold the orange and white bottle with cap and shake it.",
+    "Hold the smooth plastic bottle with the right arm and shake lightly.",
+    "Lift the medium bottle with orange lid and shake it thoroughly.",
+    "Use the right arm to grab the white and orange plastic bottle and shake it.",
+    "Using the right arm, shake the white and orange plastic bottle and then place it back.",
+    "Grip the white and orange plastic bottle using the right arm and shake.",
+    "Shake the plastic bottle after holding it firmly.",
+    "Catch the bottle with ribbed orange bottom and shake it instantly.",
+    "Take the white and orange plastic bottle using the right arm and give it a shake.",
+    "Secure the plastic bottle, shake it, and place it down.",
+    "Shake the bottle with orange cap after lifting it.",
+    "With the right arm, pick the drinking bottle with yellow label and shake properly.",
+    "Shake the the bottle with orange cap properly after lifting.",
+    "Hold the yellow label bottle and shake it properly.",
+    "Hold the orange bottle steady, then shake it.",
+    "Grab the orange and white bottle with cap firmly, shake it, and put it down.",
+    "Secure the orange bottle and perform a shake.",
+    "Hold and shake the the bottle with ribbed orange bottom carefully.",
+    "Pick the orange bottle up using the right arm and shake it.",
+    "Lift the orange bottle with the right arm and shake it.",
+    "Shake the drinking bottle with yellow label using the right arm after grabbing.",
+    "Use the right arm to hold the drinking bottle with yellow label and shake it.",
+    "Pick up the medium bottle with orange lid and shake it.",
+    "Pick the orange bottle and perform shaking motion.",
+    "Pick the orange and white bottle with cap, shake it with the right arm.",
+    "Use the right arm to pick and shake the plastic bottle.",
+    "Use the right arm to grab the bottle with ribbed orange bottom and shake properly.",
+    "Shake the medium bottle with orange lid firmly after grabbing.",
+    "Grab the plastic bottle carefully and shake.",
+    "Shake the orange bottle after grabbing it.",
+    "Lift the drinking bottle with yellow label and shake it gently.",
+    "Use the right arm to lift and shake the drinking bottle with yellow label.",
+    "Pick the drinking bottle with yellow label up with the right arm and shake.",
+    "Grab the orange bottle and move it to shake.",
+    "Use the right arm to lift and shake the medium orange bottle.",
+    "Grasp the medium bottle with orange lid with the right arm and shake it.",
+    "Lift the bottle with ribbed orange bottom with the right arm and shake.",
+    "Grab the white and orange plastic bottle with the right arm and shake.",
+    "Shake the plastic bottle after grabbing it.",
+    "Shake the smooth plastic bottle after grabbing it.",
+    "Grab the cylindrical orange and white bottle using the right arm, then shake."
+  ],
+  "unseen": [
+    "Grab the bottle with curved body and give it a shake.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Grab the bottle with curved body and shake it.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Grab the bottle with curved body and shake it.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Grab the bottle with curved body and shake it.",
+    "Shake the bottle with curved body after picking it with the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004205.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004205.json
new file mode 100644
index 0000000000000000000000000000000000000000..12f04b2aeb41670ccda691eb47635c31208ce4be
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004205.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the bottle with orange cap and shake it thoroughly.",
+    "Shake the the plastic bottle properly after lifting.",
+    "Lift the orange bottle with the left arm and give it a shake.",
+    "Grab the cylindrical orange and white bottle using the left arm, then shake.",
+    "Pick up the medium bottle with orange lid and shake it well.",
+    "Hold and shake the the yellow label bottle carefully.",
+    "Shake the bottle with ribbed orange bottom using the left arm after grabbing.",
+    "Use the left arm to lift and shake the orange bottle.",
+    "Grab the plastic bottle firmly, shake it, and put it down.",
+    "Grab the orange bottle and move it to shake.",
+    "Grip the medium bottle with orange lid using the left arm and shake.",
+    "Using the left arm, shake the smooth plastic bottle and then place it back.",
+    "Shake the orange and white bottle with cap after lifting it.",
+    "Lift the cylindrical orange and white bottle and shake it gently.",
+    "Use the left arm to grab the medium orange bottle and shake properly.",
+    "Shake the medium bottle with orange lid after grabbing it.",
+    "Secure the yellow label bottle, shake it, and place it down.",
+    "Grasp the cylindrical orange and white bottle with the left arm and shake it.",
+    "Use the left arm to pick and shake the drinking bottle with yellow label.",
+    "Use the left arm to lift and shake the cylindrical orange and white bottle.",
+    "Secure the plastic bottle and perform a shake.",
+    "Use the left arm to grab the plastic bottle and shake it.",
+    "Grab the orange bottle and shake it steadily.",
+    "Pick the bottle with ribbed orange bottom up with the left arm and shake.",
+    "Pick the orange and white bottle with cap, shake it with the left arm.",
+    "Shake the bottle with orange cap thoroughly after grabbing it.",
+    "Lift the bottle with orange cap with the left arm and shake it.",
+    "Grab and shake the medium bottle with orange lid using the left arm.",
+    "Hold the plastic bottle steady, then shake it.",
+    "Lift up the medium bottle with orange lid using the left arm, then shake.",
+    "Shake the smooth plastic bottle after grabbing it.",
+    "Pick the plastic bottle and perform shaking motion.",
+    "Hold the plastic bottle and shake it properly.",
+    "Utilize the left arm to hold the bottle with orange cap and shake it.",
+    "Shake the cylindrical orange and white bottle firmly after grabbing.",
+    "Grab the orange bottle and give it a shake.",
+    "Pick up the medium bottle with orange lid and shake it.",
+    "Take the orange bottle using the left arm and give it a shake.",
+    "Hold the yellow label bottle with the left arm and shake lightly.",
+    "Grab the medium orange bottle with the left arm and shake.",
+    "Pick the bottle with orange cap up using the left arm and shake it.",
+    "Shake the white and orange plastic bottle after holding it firmly.",
+    "Catch the cylindrical orange and white bottle and shake it instantly.",
+    "With the left arm, pick the yellow label bottle and shake properly.",
+    "Use the left arm to lift and shake the medium bottle with orange lid.",
+    "Shake the cylindrical orange and white bottle after grabbing it.",
+    "Use the left arm to hold the medium bottle with orange lid and shake it.",
+    "Grab the plastic bottle carefully and shake.",
+    "Lift the bottle with orange cap with the left arm and shake.",
+    "Hold the smooth plastic bottle, shake it briefly.",
+    "Lift the orange bottle and shake it thoroughly.",
+    "Shake the the bottle with orange cap properly after lifting.",
+    "Lift the medium orange bottle with the left arm and give it a shake.",
+    "Grab the cylindrical orange and white bottle using the left arm, then shake.",
+    "Pick up the bottle with ribbed orange bottom and shake it well.",
+    "Hold and shake the the medium bottle with orange lid carefully.",
+    "Shake the yellow label bottle using the left arm after grabbing.",
+    "Use the left arm to lift and shake the orange and white bottle with cap.",
+    "Grab the orange and white bottle with cap firmly, shake it, and put it down.",
+    "Grab the drinking bottle with yellow label and move it to shake.",
+    "Grip the orange bottle using the left arm and shake.",
+    "Using the left arm, shake the bottle with orange cap and then place it back.",
+    "Shake the white and orange plastic bottle after lifting it.",
+    "Lift the orange bottle and shake it gently.",
+    "Use the left arm to grab the cylindrical orange and white bottle and shake properly.",
+    "Shake the medium bottle with orange lid after grabbing it.",
+    "Secure the orange and white bottle with cap, shake it, and place it down.",
+    "Grasp the cylindrical orange and white bottle with the left arm and shake it.",
+    "Use the left arm to pick and shake the medium bottle with orange lid.",
+    "Use the left arm to lift and shake the bottle with ribbed orange bottom.",
+    "Secure the bottle with ribbed orange bottom and perform a shake.",
+    "Use the left arm to grab the cylindrical orange and white bottle and shake it.",
+    "Grab the medium bottle with orange lid and shake it steadily.",
+    "Pick the medium bottle with orange lid up with the left arm and shake.",
+    "Pick the bottle with orange cap, shake it with the left arm.",
+    "Shake the cylindrical orange and white bottle thoroughly after grabbing it.",
+    "Lift the cylindrical orange and white bottle with the left arm and shake it.",
+    "Grab and shake the bottle with ribbed orange bottom using the left arm.",
+    "Hold the orange bottle steady, then shake it.",
+    "Lift up the bottle with orange cap using the left arm, then shake.",
+    "Shake the yellow label bottle after grabbing it.",
+    "Pick the drinking bottle with yellow label and perform shaking motion.",
+    "Hold the orange bottle and shake it properly.",
+    "Utilize the left arm to hold the medium orange bottle and shake it.",
+    "Shake the medium orange bottle firmly after grabbing.",
+    "Grab the orange bottle and give it a shake.",
+    "Pick up the bottle with ribbed orange bottom and shake it.",
+    "Take the drinking bottle with yellow label using the left arm and give it a shake.",
+    "Hold the smooth plastic bottle with the left arm and shake lightly.",
+    "Grab the orange and white bottle with cap with the left arm and shake.",
+    "Pick the bottle with orange cap up using the left arm and shake it.",
+    "Shake the smooth plastic bottle after holding it firmly.",
+    "Catch the smooth plastic bottle and shake it instantly.",
+    "With the left arm, pick the plastic bottle and shake properly.",
+    "Use the left arm to lift and shake the white and orange plastic bottle.",
+    "Shake the white and orange plastic bottle after grabbing it.",
+    "Use the left arm to hold the bottle with ribbed orange bottom and shake it.",
+    "Grab the smooth plastic bottle carefully and shake.",
+    "Lift the bottle with ribbed orange bottom with the left arm and shake.",
+    "Hold the orange and white bottle with cap, shake it briefly."
+  ],
+  "unseen": [
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Pick and shake the the curvy orange bottle with white section with the left arm.",
+    "Shake the bottle with yellow sticker label after picking it with the left arm.",
+    "Use the left arm to grab the bottle with curved body and shake.",
+    "Use the left arm to pick the bottle with curved body.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick up the bottle with yellow sticker label with the left arm and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with curved body and shake it.",
+    "Pick and shake the the curvy orange bottle with white section with the left arm.",
+    "Shake the bottle with curved body after picking it with the left arm.",
+    "Use the left arm to grab the bottle with curved body and shake.",
+    "Use the left arm to pick the bottle with curved body.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick up the curvy orange bottle with white section with the left arm and shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Pick and shake the the bottle with yellow sticker label with the left arm.",
+    "Shake the bottle with curved body after picking it with the left arm.",
+    "Use the left arm to grab the bottle with curved body and shake.",
+    "Use the left arm to pick the bottle with curved body.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick up the bottle with yellow sticker label with the left arm and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with curved body and shake it.",
+    "Pick and shake the the bottle with curved body with the left arm.",
+    "Shake the curvy orange bottle with white section after picking it with the left arm.",
+    "Use the left arm to grab the curvy orange bottle with white section and shake.",
+    "Use the left arm to pick the bottle with curved body.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick up the bottle with curved body with the left arm and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with curved body and shake it.",
+    "Pick and shake the the bottle with yellow sticker label with the left arm.",
+    "Shake the bottle with curved body after picking it with the left arm.",
+    "Use the left arm to grab the curvy orange bottle with white section and shake.",
+    "Use the left arm to pick the bottle with yellow sticker label.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick up the bottle with yellow sticker label with the left arm and shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Pick and shake the the curvy orange bottle with white section with the left arm.",
+    "Shake the bottle with curved body after picking it with the left arm.",
+    "Use the left arm to grab the bottle with curved body and shake.",
+    "Use the left arm to pick the bottle with yellow sticker label.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick up the bottle with curved body with the left arm and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with curved body and shake it.",
+    "Pick and shake the the bottle with curved body with the left arm.",
+    "Shake the bottle with curved body after picking it with the left arm.",
+    "Use the left arm to grab the bottle with yellow sticker label and shake.",
+    "Use the left arm to pick the bottle with curved body.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick up the curvy orange bottle with white section with the left arm and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Pick and shake the the bottle with curved body with the left arm.",
+    "Shake the curvy orange bottle with white section after picking it with the left arm.",
+    "Use the left arm to grab the curvy orange bottle with white section and shake.",
+    "Use the left arm to pick the curvy orange bottle with white section.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick up the curvy orange bottle with white section with the left arm and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Pick and shake the the bottle with yellow sticker label with the left arm.",
+    "Shake the bottle with yellow sticker label after picking it with the left arm.",
+    "Use the left arm to grab the curvy orange bottle with white section and shake.",
+    "Use the left arm to pick the curvy orange bottle with white section.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick up the curvy orange bottle with white section with the left arm and shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Pick and shake the the bottle with yellow sticker label with the left arm.",
+    "Shake the bottle with yellow sticker label after picking it with the left arm.",
+    "Use the left arm to grab the bottle with curved body and shake.",
+    "Use the left arm to pick the bottle with yellow sticker label.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick up the bottle with yellow sticker label with the left arm and shake.",
+    "Pick up the bottle with curved body and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004232.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004232.json
new file mode 100644
index 0000000000000000000000000000000000000000..c21f6005c03465b4f9c20ee93bf3b39a26d82f88
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004232.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the bottle with blue cap carefully and shake.",
+    "Use the right arm to grab the white and blue bottle and shake it.",
+    "With the right arm, pick the blue bottle and shake properly.",
+    "Hold the bottle for liquids and shake it properly.",
+    "Grasp the handheld bottle with the right arm and shake it.",
+    "Pick the plastic bottle, shake it with the right arm.",
+    "Use the right arm to lift and shake the medium bottle for beverages.",
+    "Shake the smooth plastic bottle after grabbing it.",
+    "Lift the plastic bottle with the right arm and shake.",
+    "Shake the the handheld bottle properly after lifting.",
+    "Lift the white and blue bottle and shake it thoroughly.",
+    "Hold the handheld bottle with the right arm and shake lightly.",
+    "Hold and shake the the medium bottle for beverages carefully.",
+    "Pick the blue bottle with label up with the right arm and shake.",
+    "Shake the smooth plastic bottle thoroughly after grabbing it.",
+    "Shake the handheld bottle firmly after grabbing.",
+    "Take the white and blue bottle using the right arm and give it a shake.",
+    "Hold the bottle for liquids, shake it briefly.",
+    "Shake the cylindrical bottle after grabbing it.",
+    "Grab the handheld bottle with the right arm and shake.",
+    "Grip the white and blue bottle using the right arm and shake.",
+    "Shake the plastic bottle after lifting it.",
+    "Secure the medium bottle for beverages and perform a shake.",
+    "Use the right arm to lift and shake the smooth plastic bottle.",
+    "Grab the plastic bottle and give it a shake.",
+    "Pick the medium bottle for beverages up using the right arm and shake it.",
+    "Lift the bottle with blue cap and shake it gently.",
+    "Lift up the medium bottle for beverages using the right arm, then shake.",
+    "Use the right arm to lift and shake the white bottle with blue accents.",
+    "Grab and shake the blue bottle with label using the right arm.",
+    "Grab the white bottle with blue accents firmly, shake it, and put it down.",
+    "Hold the white and blue bottle steady, then shake it.",
+    "Grab the blue bottle with label and shake it steadily.",
+    "Use the right arm to hold the plastic bottle and shake it.",
+    "Secure the smooth plastic bottle, shake it, and place it down.",
+    "Shake the bottle for liquids after grabbing it.",
+    "Catch the plastic bottle and shake it instantly.",
+    "Pick up the medium bottle for beverages and shake it well.",
+    "Shake the blue bottle with label after holding it firmly.",
+    "Lift the plastic bottle with the right arm and give it a shake.",
+    "Utilize the right arm to hold the handheld bottle and shake it.",
+    "Pick up the medium-sized bottle and shake it.",
+    "Lift the plastic bottle with the right arm and shake it.",
+    "Grab the handheld bottle using the right arm, then shake.",
+    "Pick the bottle with blue cap and perform shaking motion.",
+    "Use the right arm to grab the bottle for liquids and shake properly.",
+    "Using the right arm, shake the cylindrical bottle and then place it back.",
+    "Grab the blue bottle with label and move it to shake.",
+    "Shake the medium-sized bottle using the right arm after grabbing.",
+    "Use the right arm to pick and shake the white and blue bottle.",
+    "Grab the blue bottle carefully and shake.",
+    "Use the right arm to grab the white and blue bottle and shake it.",
+    "With the right arm, pick the smooth plastic bottle and shake properly.",
+    "Hold the plastic bottle and shake it properly.",
+    "Grasp the cylindrical bottle with the right arm and shake it.",
+    "Pick the white bottle with blue accents, shake it with the right arm.",
+    "Use the right arm to lift and shake the handheld bottle.",
+    "Shake the cylindrical bottle after grabbing it.",
+    "Lift the bottle for liquids with the right arm and shake.",
+    "Shake the the medium bottle for beverages properly after lifting.",
+    "Lift the handheld bottle and shake it thoroughly.",
+    "Hold the blue bottle with the right arm and shake lightly.",
+    "Hold and shake the the white and blue bottle carefully.",
+    "Pick the medium-sized bottle up with the right arm and shake.",
+    "Shake the blue bottle with label thoroughly after grabbing it.",
+    "Shake the bottle for liquids firmly after grabbing.",
+    "Take the white bottle with blue accents using the right arm and give it a shake.",
+    "Hold the cylindrical bottle, shake it briefly.",
+    "Shake the plastic bottle after grabbing it.",
+    "Grab the blue bottle with the right arm and shake.",
+    "Grip the white bottle with blue accents using the right arm and shake.",
+    "Shake the cylindrical bottle after lifting it.",
+    "Secure the white and blue bottle and perform a shake.",
+    "Use the right arm to lift and shake the smooth plastic bottle.",
+    "Grab the plastic bottle and give it a shake.",
+    "Pick the medium-sized bottle up using the right arm and shake it.",
+    "Lift the cylindrical bottle and shake it gently.",
+    "Lift up the medium bottle for beverages using the right arm, then shake.",
+    "Use the right arm to lift and shake the bottle for liquids.",
+    "Grab and shake the plastic bottle using the right arm.",
+    "Grab the medium-sized bottle firmly, shake it, and put it down.",
+    "Hold the smooth plastic bottle steady, then shake it.",
+    "Grab the blue bottle with label and shake it steadily.",
+    "Use the right arm to hold the blue bottle with label and shake it.",
+    "Secure the plastic bottle, shake it, and place it down.",
+    "Shake the plastic bottle after grabbing it.",
+    "Catch the white and blue bottle and shake it instantly.",
+    "Pick up the medium-sized bottle and shake it well.",
+    "Shake the handheld bottle after holding it firmly.",
+    "Lift the blue bottle with the right arm and give it a shake.",
+    "Utilize the right arm to hold the blue bottle with label and shake it.",
+    "Pick up the medium bottle for beverages and shake it.",
+    "Lift the cylindrical bottle with the right arm and shake it.",
+    "Grab the blue bottle with label using the right arm, then shake.",
+    "Pick the white and blue bottle and perform shaking motion.",
+    "Use the right arm to grab the blue bottle and shake properly.",
+    "Using the right arm, shake the bottle for liquids and then place it back.",
+    "Grab the bottle with blue cap and move it to shake.",
+    "Shake the smooth plastic bottle using the right arm after grabbing.",
+    "Use the right arm to pick and shake the blue bottle with label."
+  ],
+  "unseen": [
+    "Pick up the blue-capped plastic bottle with the right arm and shake.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Use the right arm to grab the bottle with curved neck design and shake.",
+    "Shake the bottle with curved neck design after picking it with the right arm.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Pick and shake the the bottle with ridged neck with the right arm.",
+    "Use the right arm to pick the bottle with curved neck design.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Pick up the bottle with ridged neck with the right arm and shake.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Use the right arm to grab the bottle with curved neck design and shake.",
+    "Shake the bottle with ridged neck after picking it with the right arm.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Pick and shake the the bottle with ridged neck with the right arm.",
+    "Use the right arm to pick the bottle with curved neck design.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Pick up the blue-capped plastic bottle with the right arm and shake.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Use the right arm to grab the blue-capped plastic bottle and shake.",
+    "Shake the bottle with curved neck design after picking it with the right arm.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Pick and shake the the blue-capped plastic bottle with the right arm.",
+    "Use the right arm to pick the blue-capped plastic bottle.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Pick up the bottle with ridged neck with the right arm and shake.",
+    "Grab the blue-capped plastic bottle and give it a shake.",
+    "Use the right arm to grab the bottle with ridged neck and shake.",
+    "Shake the bottle with curved neck design after picking it with the right arm.",
+    "Grab the blue-capped plastic bottle, shake it properly, then set it down.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Pick and shake the the bottle with curved neck design with the right arm.",
+    "Use the right arm to pick the blue-capped plastic bottle.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Pick up the blue-capped plastic bottle with the right arm and shake.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Use the right arm to grab the bottle with curved neck design and shake.",
+    "Shake the blue-capped plastic bottle after picking it with the right arm.",
+    "Grab the blue-capped plastic bottle, shake it properly, then set it down.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Pick and shake the the blue-capped plastic bottle with the right arm.",
+    "Use the right arm to pick the bottle with ridged neck.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Pick up the bottle with curved neck design with the right arm and shake.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Use the right arm to grab the bottle with ridged neck and shake.",
+    "Shake the bottle with ridged neck after picking it with the right arm.",
+    "Grab the blue-capped plastic bottle, shake it properly, then set it down.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Pick and shake the the blue-capped plastic bottle with the right arm.",
+    "Use the right arm to pick the blue-capped plastic bottle.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Pick up the bottle with curved neck design with the right arm and shake.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Use the right arm to grab the blue-capped plastic bottle and shake.",
+    "Shake the bottle with curved neck design after picking it with the right arm.",
+    "Grab the bottle with ridged neck, shake it properly, then set it down.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Pick and shake the the bottle with curved neck design with the right arm.",
+    "Use the right arm to pick the bottle with ridged neck.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Pick up the bottle with ridged neck with the right arm and shake.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Use the right arm to grab the bottle with curved neck design and shake.",
+    "Shake the bottle with curved neck design after picking it with the right arm.",
+    "Grab the bottle with ridged neck, shake it properly, then set it down.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Pick and shake the the blue-capped plastic bottle with the right arm.",
+    "Use the right arm to pick the bottle with curved neck design.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Pick up the blue-capped plastic bottle with the right arm and shake.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Use the right arm to grab the blue-capped plastic bottle and shake.",
+    "Shake the blue-capped plastic bottle after picking it with the right arm.",
+    "Grab the blue-capped plastic bottle, shake it properly, then set it down.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Pick and shake the the bottle with ridged neck with the right arm.",
+    "Use the right arm to pick the blue-capped plastic bottle.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Pick up the blue-capped plastic bottle with the right arm and shake.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Use the right arm to grab the bottle with ridged neck and shake.",
+    "Shake the bottle with curved neck design after picking it with the right arm.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Pick and shake the the bottle with curved neck design with the right arm.",
+    "Use the right arm to pick the bottle with curved neck design.",
+    "Pick up the blue-capped plastic bottle and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004258.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004258.json
new file mode 100644
index 0000000000000000000000000000000000000000..c197f50ab2272a505d285a7e0e4a9b0377f1af1d
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004258.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to lift and shake the rectangular bottle with cylindrical neck.",
+    "Use the left arm to hold the plastic bottle and shake it.",
+    "Grab the bottle with white cap and shake it steadily.",
+    "Lift the medium rectangular yellow bottle with the left arm and give it a shake.",
+    "Hold the plastic bottle, shake it briefly.",
+    "Lift the bottle with green and white labels with the left arm and shake.",
+    "Lift the yellow container with rounded edges with the left arm and shake it.",
+    "Shake the smooth bottle with rounded edges firmly after grabbing.",
+    "Grab the bottle with green and white labels and give it a shake.",
+    "Shake the yellow container with rounded edges after grabbing it.",
+    "Hold the bottle with green and white labels and shake it properly.",
+    "Use the left arm to lift and shake the smooth bottle with rounded edges.",
+    "Grab and shake the bottle with white cap using the left arm.",
+    "With the left arm, pick the bottle with green and white labels and shake properly.",
+    "Grip the bottle with green and white labels using the left arm and shake.",
+    "Grab the bottle with white cap firmly, shake it, and put it down.",
+    "Grab the bottle with a smooth plastic body with the left arm and shake.",
+    "Grab the bottle with white cap using the left arm, then shake.",
+    "Grasp the bottle with green label with the left arm and shake it.",
+    "Use the left arm to lift and shake the bottle with green and white labels.",
+    "Lift up the bottle with white cap using the left arm, then shake.",
+    "Shake the plastic bottle after lifting it.",
+    "Lift the bottle with a smooth plastic body and shake it gently.",
+    "Use the left arm to grab the bottle with a smooth plastic body and shake properly.",
+    "Grab the yellow plastic bottle with white top and move it to shake.",
+    "Shake the bottle with white cap after grabbing it.",
+    "Shake the yellow container with rounded edges after holding it firmly.",
+    "Hold the yellow bottle with a green design steady, then shake it.",
+    "Shake the the bottle with green and white labels properly after lifting.",
+    "Hold and shake the the plastic bottle carefully.",
+    "Take the bottle with green label using the left arm and give it a shake.",
+    "Shake the plastic bottle after grabbing it.",
+    "Use the left arm to pick and shake the yellow container with rounded edges.",
+    "Using the left arm, shake the yellow container with rounded edges and then place it back.",
+    "Pick the plastic bottle up with the left arm and shake.",
+    "Shake the bottle with a smooth plastic body using the left arm after grabbing.",
+    "Pick the yellow container with rounded edges and perform shaking motion.",
+    "Pick up the yellow container with rounded edges and shake it.",
+    "Secure the bottle with white cap and perform a shake.",
+    "Use the left arm to grab the smooth bottle with rounded edges and shake it.",
+    "Shake the bottle with green label thoroughly after grabbing it.",
+    "Secure the plastic bottle, shake it, and place it down.",
+    "Pick the yellow plastic bottle with white top, shake it with the left arm.",
+    "Lift the bottle with white cap and shake it thoroughly.",
+    "Grab the bottle with green and white labels carefully and shake.",
+    "Hold the yellow bottle with a green design with the left arm and shake lightly.",
+    "Pick up the rectangular bottle with cylindrical neck and shake it well.",
+    "Utilize the left arm to hold the yellow bottle with a green design and shake it.",
+    "Catch the yellow bottle with a green design and shake it instantly.",
+    "Pick the medium rectangular yellow bottle up using the left arm and shake it.",
+    "Use the left arm to lift and shake the yellow bottle.",
+    "Use the left arm to hold the rectangular bottle with cylindrical neck and shake it.",
+    "Grab the bottle with white cap and shake it steadily.",
+    "Lift the yellow bottle with a green design with the left arm and give it a shake.",
+    "Hold the yellow bottle, shake it briefly.",
+    "Lift the rectangular bottle with cylindrical neck with the left arm and shake.",
+    "Lift the smooth bottle with rounded edges with the left arm and shake it.",
+    "Shake the bottle with green label firmly after grabbing.",
+    "Grab the bottle with green and white labels and give it a shake.",
+    "Shake the bottle with a smooth plastic body after grabbing it.",
+    "Hold the plastic bottle and shake it properly.",
+    "Use the left arm to lift and shake the yellow plastic bottle with white top.",
+    "Grab and shake the yellow bottle using the left arm.",
+    "With the left arm, pick the bottle with green label and shake properly.",
+    "Grip the bottle with green and white labels using the left arm and shake.",
+    "Grab the bottle with a smooth plastic body firmly, shake it, and put it down.",
+    "Grab the smooth bottle with rounded edges with the left arm and shake.",
+    "Grab the bottle with green and white labels using the left arm, then shake.",
+    "Grasp the bottle with green and white labels with the left arm and shake it.",
+    "Use the left arm to lift and shake the bottle with green and white labels.",
+    "Lift up the yellow plastic bottle with white top using the left arm, then shake.",
+    "Shake the bottle with a smooth plastic body after lifting it.",
+    "Lift the plastic bottle and shake it gently.",
+    "Use the left arm to grab the bottle with green label and shake properly.",
+    "Grab the bottle with green and white labels and move it to shake.",
+    "Shake the bottle with green label after grabbing it.",
+    "Shake the bottle with green label after holding it firmly.",
+    "Hold the medium rectangular yellow bottle steady, then shake it.",
+    "Shake the the yellow plastic bottle with white top properly after lifting.",
+    "Hold and shake the the yellow container with rounded edges carefully.",
+    "Take the smooth bottle with rounded edges using the left arm and give it a shake.",
+    "Shake the yellow container with rounded edges after grabbing it.",
+    "Use the left arm to pick and shake the smooth bottle with rounded edges.",
+    "Using the left arm, shake the yellow bottle with a green design and then place it back.",
+    "Pick the yellow bottle up with the left arm and shake.",
+    "Shake the medium rectangular yellow bottle using the left arm after grabbing.",
+    "Pick the bottle with a smooth plastic body and perform shaking motion.",
+    "Pick up the bottle with white cap and shake it.",
+    "Secure the bottle with green label and perform a shake.",
+    "Use the left arm to grab the bottle with a smooth plastic body and shake it.",
+    "Shake the yellow bottle thoroughly after grabbing it.",
+    "Secure the yellow bottle with a green design, shake it, and place it down.",
+    "Pick the smooth bottle with rounded edges, shake it with the left arm.",
+    "Lift the yellow bottle and shake it thoroughly.",
+    "Grab the bottle with white cap carefully and shake.",
+    "Hold the rectangular bottle with cylindrical neck with the left arm and shake lightly.",
+    "Pick up the bottle with green label and shake it well.",
+    "Utilize the left arm to hold the yellow bottle with a green design and shake it.",
+    "Catch the yellow bottle with a green design and shake it instantly.",
+    "Pick the rectangular bottle with cylindrical neck up using the left arm and shake it."
+  ],
+  "unseen": [
+    "Use the left arm to grab the yellow rectangular bottle and shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Shake the yellow rectangular bottle after picking it with the left arm.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Use the left arm to pick the yellow bottle for liquid storage.",
+    "Pick up the yellow rectangular bottle with the left arm and shake.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the left arm.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the left arm to grab the yellow rectangular bottle and shake.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Shake the yellow rectangular bottle after picking it with the left arm.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Use the left arm to pick the yellow rectangular bottle.",
+    "Pick up the yellow bottle for liquid storage with the left arm and shake.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick and shake the the yellow bottle for liquid storage with the left arm.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the left arm.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "Pick up the yellow bottle for liquid storage with the left arm and shake.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick and shake the the yellow rectangular bottle with the left arm.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the left arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the left arm.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Use the left arm to pick the yellow bottle for liquid storage.",
+    "Pick up the yellow bottle for liquid storage with the left arm and shake.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick and shake the the yellow bottle for liquid storage with the left arm.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the left arm to grab the yellow rectangular bottle and shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the left arm.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Use the left arm to pick the yellow rectangular bottle.",
+    "Pick up the yellow rectangular bottle with the left arm and shake.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick and shake the the yellow rectangular bottle with the left arm.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the left arm to grab the yellow rectangular bottle and shake.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Shake the yellow rectangular bottle after picking it with the left arm.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "Pick up the hand-sized yellow plastic bottle with the left arm and shake.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the left arm.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "Pick up the yellow rectangular bottle with the left arm and shake.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick and shake the the yellow bottle for liquid storage with the left arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the left arm to grab the yellow rectangular bottle and shake.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Use the left arm to pick the yellow rectangular bottle.",
+    "Pick up the hand-sized yellow plastic bottle with the left arm and shake.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick and shake the the yellow rectangular bottle with the left arm.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the left arm to grab the yellow rectangular bottle and shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Shake the yellow rectangular bottle after picking it with the left arm.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Use the left arm to pick the yellow rectangular bottle.",
+    "Pick up the hand-sized yellow plastic bottle with the left arm and shake.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick and shake the the yellow bottle for liquid storage with the left arm.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the left arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "Pick up the hand-sized yellow plastic bottle with the left arm and shake.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick and shake the the yellow bottle for liquid storage with the left arm.",
+    "Pick up the yellow bottle for liquid storage and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004284.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004284.json
new file mode 100644
index 0000000000000000000000000000000000000000..58673ad41e500f5a605cb14f0f30809a19fe4898
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004284.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the cylindrical bottle up using the right arm and shake it.",
+    "Use the right arm to lift and shake the cylindrical bottle.",
+    "Pick up the plastic bottle and shake it.",
+    "Pick up the blue bottle with label and shake it well.",
+    "Pick the cylindrical bottle and perform shaking motion.",
+    "Grab the white and blue bottle using the right arm, then shake.",
+    "Grip the blue bottle with label using the right arm and shake.",
+    "Use the right arm to grab the blue bottle and shake it.",
+    "Lift up the plastic bottle using the right arm, then shake.",
+    "Use the right arm to lift and shake the bottle for liquids.",
+    "Grab the smooth plastic bottle carefully and shake.",
+    "Pick the medium bottle for beverages, shake it with the right arm.",
+    "Grasp the bottle with blue cap with the right arm and shake it.",
+    "Lift the bottle for liquids and shake it gently.",
+    "Hold the bottle for liquids and shake it properly.",
+    "Shake the blue bottle after grabbing it.",
+    "Lift the white bottle with blue accents and shake it thoroughly.",
+    "Hold the smooth plastic bottle steady, then shake it.",
+    "Shake the medium-sized bottle after grabbing it.",
+    "Hold and shake the the cylindrical bottle carefully.",
+    "Secure the blue bottle with label and perform a shake.",
+    "Use the right arm to grab the smooth plastic bottle and shake properly.",
+    "Use the right arm to pick and shake the bottle for liquids.",
+    "Grab the bottle with blue cap firmly, shake it, and put it down.",
+    "Grab and shake the white bottle with blue accents using the right arm.",
+    "Grab the blue bottle and shake it steadily.",
+    "Shake the medium bottle for beverages thoroughly after grabbing it.",
+    "Shake the white bottle with blue accents after grabbing it.",
+    "Grab the bottle with blue cap and move it to shake.",
+    "Use the right arm to lift and shake the bottle with blue cap.",
+    "Catch the cylindrical bottle and shake it instantly.",
+    "Lift the smooth plastic bottle with the right arm and shake it.",
+    "Using the right arm, shake the blue bottle with label and then place it back.",
+    "Secure the blue bottle with label, shake it, and place it down.",
+    "With the right arm, pick the medium-sized bottle and shake properly.",
+    "Grab the blue bottle with label with the right arm and shake.",
+    "Lift the white and blue bottle with the right arm and give it a shake.",
+    "Take the bottle for liquids using the right arm and give it a shake.",
+    "Hold the medium-sized bottle, shake it briefly.",
+    "Pick the cylindrical bottle up with the right arm and shake.",
+    "Hold the bottle with blue cap with the right arm and shake lightly.",
+    "Utilize the right arm to hold the bottle with blue cap and shake it.",
+    "Use the right arm to hold the handheld bottle and shake it.",
+    "Shake the the handheld bottle properly after lifting.",
+    "Shake the medium bottle for beverages after lifting it.",
+    "Lift the smooth plastic bottle with the right arm and shake.",
+    "Shake the white bottle with blue accents firmly after grabbing.",
+    "Grab the plastic bottle and give it a shake.",
+    "Shake the smooth plastic bottle after holding it firmly.",
+    "Shake the medium-sized bottle using the right arm after grabbing.",
+    "Pick the plastic bottle up using the right arm and shake it.",
+    "Use the right arm to lift and shake the cylindrical bottle.",
+    "Pick up the medium-sized bottle and shake it.",
+    "Pick up the blue bottle with label and shake it well.",
+    "Pick the medium bottle for beverages and perform shaking motion.",
+    "Grab the bottle for liquids using the right arm, then shake.",
+    "Grip the bottle with blue cap using the right arm and shake.",
+    "Use the right arm to grab the medium bottle for beverages and shake it.",
+    "Lift up the bottle with blue cap using the right arm, then shake.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Grab the handheld bottle carefully and shake.",
+    "Pick the cylindrical bottle, shake it with the right arm.",
+    "Grasp the bottle for liquids with the right arm and shake it.",
+    "Lift the blue bottle with label and shake it gently.",
+    "Hold the blue bottle with label and shake it properly.",
+    "Shake the cylindrical bottle after grabbing it.",
+    "Lift the smooth plastic bottle and shake it thoroughly.",
+    "Hold the cylindrical bottle steady, then shake it.",
+    "Shake the white and blue bottle after grabbing it.",
+    "Hold and shake the the white and blue bottle carefully.",
+    "Secure the medium bottle for beverages and perform a shake.",
+    "Use the right arm to grab the blue bottle and shake properly.",
+    "Use the right arm to pick and shake the cylindrical bottle.",
+    "Grab the smooth plastic bottle firmly, shake it, and put it down.",
+    "Grab and shake the white bottle with blue accents using the right arm.",
+    "Grab the smooth plastic bottle and shake it steadily.",
+    "Shake the bottle for liquids thoroughly after grabbing it.",
+    "Shake the bottle for liquids after grabbing it.",
+    "Grab the handheld bottle and move it to shake.",
+    "Use the right arm to lift and shake the blue bottle.",
+    "Catch the blue bottle with label and shake it instantly.",
+    "Lift the bottle for liquids with the right arm and shake it.",
+    "Using the right arm, shake the handheld bottle and then place it back.",
+    "Secure the smooth plastic bottle, shake it, and place it down.",
+    "With the right arm, pick the bottle with blue cap and shake properly.",
+    "Grab the bottle with blue cap with the right arm and shake.",
+    "Lift the bottle with blue cap with the right arm and give it a shake.",
+    "Take the white bottle with blue accents using the right arm and give it a shake.",
+    "Hold the medium bottle for beverages, shake it briefly.",
+    "Pick the cylindrical bottle up with the right arm and shake.",
+    "Hold the smooth plastic bottle with the right arm and shake lightly.",
+    "Utilize the right arm to hold the blue bottle and shake it.",
+    "Use the right arm to hold the blue bottle with label and shake it.",
+    "Shake the the bottle with blue cap properly after lifting.",
+    "Shake the white bottle with blue accents after lifting it.",
+    "Lift the plastic bottle with the right arm and shake.",
+    "Shake the plastic bottle firmly after grabbing.",
+    "Grab the white and blue bottle and give it a shake.",
+    "Shake the blue bottle with label after holding it firmly.",
+    "Shake the smooth plastic bottle using the right arm after grabbing."
+  ],
+  "unseen": [
+    "Use the right arm to pick the blue-capped plastic bottle.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Pick up the bottle with curved neck design with the right arm and shake.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Use the right arm to grab the bottle with ridged neck and shake.",
+    "Shake the bottle with ridged neck after picking it with the right arm.",
+    "Grab the bottle with ridged neck, shake it properly, then set it down.",
+    "Pick and shake the the bottle with ridged neck with the right arm.",
+    "Use the right arm to pick the bottle with curved neck design.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Pick up the bottle with ridged neck with the right arm and shake.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Use the right arm to grab the bottle with ridged neck and shake.",
+    "Shake the bottle with curved neck design after picking it with the right arm.",
+    "Grab the blue-capped plastic bottle, shake it properly, then set it down.",
+    "Pick and shake the the bottle with ridged neck with the right arm.",
+    "Use the right arm to pick the bottle with ridged neck.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Grab the blue-capped plastic bottle and give it a shake.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Pick up the bottle with ridged neck with the right arm and shake.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Use the right arm to grab the bottle with ridged neck and shake.",
+    "Shake the bottle with ridged neck after picking it with the right arm.",
+    "Grab the bottle with ridged neck, shake it properly, then set it down.",
+    "Pick and shake the the bottle with ridged neck with the right arm.",
+    "Use the right arm to pick the blue-capped plastic bottle.",
+    "Grab the bottle with curved neck design and shake it.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Pick up the blue-capped plastic bottle with the right arm and shake.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Use the right arm to grab the bottle with ridged neck and shake.",
+    "Shake the bottle with curved neck design after picking it with the right arm.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Pick and shake the the bottle with curved neck design with the right arm.",
+    "Use the right arm to pick the blue-capped plastic bottle.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Pick up the blue-capped plastic bottle with the right arm and shake.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Use the right arm to grab the blue-capped plastic bottle and shake.",
+    "Shake the bottle with ridged neck after picking it with the right arm.",
+    "Grab the blue-capped plastic bottle, shake it properly, then set it down.",
+    "Pick and shake the the bottle with curved neck design with the right arm.",
+    "Use the right arm to pick the bottle with ridged neck.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Pick up the blue-capped plastic bottle with the right arm and shake.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Use the right arm to grab the bottle with curved neck design and shake.",
+    "Shake the bottle with ridged neck after picking it with the right arm.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Pick and shake the the bottle with ridged neck with the right arm.",
+    "Use the right arm to pick the bottle with ridged neck.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Grab the blue-capped plastic bottle and give it a shake.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Pick up the bottle with curved neck design with the right arm and shake.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Use the right arm to grab the blue-capped plastic bottle and shake.",
+    "Shake the bottle with curved neck design after picking it with the right arm.",
+    "Grab the bottle with curved neck design, shake it properly, then set it down.",
+    "Pick and shake the the blue-capped plastic bottle with the right arm.",
+    "Use the right arm to pick the bottle with curved neck design.",
+    "Grab the bottle with ridged neck and shake it.",
+    "Grab the bottle with ridged neck and give it a shake.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Pick up the blue-capped plastic bottle with the right arm and shake.",
+    "Pick up the bottle with ridged neck and shake it.",
+    "Use the right arm to grab the bottle with curved neck design and shake.",
+    "Shake the blue-capped plastic bottle after picking it with the right arm.",
+    "Grab the bottle with ridged neck, shake it properly, then set it down.",
+    "Pick and shake the the bottle with ridged neck with the right arm.",
+    "Use the right arm to pick the bottle with ridged neck.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Pick up the blue-capped plastic bottle and shake it.",
+    "Pick up the blue-capped plastic bottle with the right arm and shake.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Use the right arm to grab the bottle with curved neck design and shake.",
+    "Shake the bottle with ridged neck after picking it with the right arm.",
+    "Grab the blue-capped plastic bottle, shake it properly, then set it down.",
+    "Pick and shake the the bottle with curved neck design with the right arm.",
+    "Use the right arm to pick the bottle with ridged neck.",
+    "Grab the blue-capped plastic bottle and shake it.",
+    "Grab the bottle with curved neck design and give it a shake.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Pick up the bottle with curved neck design with the right arm and shake.",
+    "Pick up the bottle with curved neck design and shake it.",
+    "Use the right arm to grab the bottle with ridged neck and shake.",
+    "Shake the blue-capped plastic bottle after picking it with the right arm.",
+    "Grab the blue-capped plastic bottle, shake it properly, then set it down.",
+    "Pick and shake the the blue-capped plastic bottle with the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004294.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004294.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b9f9ec8e1452ba8af0d4f1ad73184df77e46f59
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004294.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the white bottle with red text and shake it well.",
+    "Grab the cylindrical bottle with red writing and give it a shake.",
+    "Using the left arm, shake the bottle with orange screw cap and then place it back.",
+    "Shake the handheld white bottle with cap after grabbing it.",
+    "Use the left arm to lift and shake the white bottle.",
+    "Hold the handheld white bottle with cap and shake it properly.",
+    "Grab the bottle with orange screw cap with the left arm and shake.",
+    "Lift the plastic bottle with the left arm and give it a shake.",
+    "Hold the bottle with orange screw cap steady, then shake it.",
+    "Pick the bottle with orange screw cap up with the left arm and shake.",
+    "Use the left arm to hold the bottle with orange screw cap and shake it.",
+    "Grab and shake the bottle with tapering neck using the left arm.",
+    "Grip the white cylindrical bottle using the left arm and shake.",
+    "Shake the white bottle for liquids using the left arm after grabbing.",
+    "Shake the cylindrical bottle with red writing after lifting it.",
+    "Hold and shake the the handheld white bottle with cap carefully.",
+    "Use the left arm to pick and shake the white bottle.",
+    "Shake the cylindrical bottle with red writing after grabbing it.",
+    "Lift the plastic bottle with the left arm and shake.",
+    "Hold the handheld white bottle with cap with the left arm and shake lightly.",
+    "Grab the white bottle carefully and shake.",
+    "Hold the handheld white bottle with cap, shake it briefly.",
+    "Secure the white bottle for liquids, shake it, and place it down.",
+    "Use the left arm to lift and shake the white bottle.",
+    "Grab the white cylindrical bottle and shake it steadily.",
+    "Shake the white cylindrical bottle after holding it firmly.",
+    "Shake the white bottle with red text after grabbing it.",
+    "Secure the white cylindrical bottle and perform a shake.",
+    "Pick the bottle with tapering neck and perform shaking motion.",
+    "Catch the cylindrical bottle with red writing and shake it instantly.",
+    "With the left arm, pick the white bottle with orange lid and shake properly.",
+    "Grab the plastic bottle and move it to shake.",
+    "Pick the bottle with orange screw cap, shake it with the left arm.",
+    "Lift the bottle with orange screw cap with the left arm and shake it.",
+    "Utilize the left arm to hold the cylindrical bottle with red writing and shake it.",
+    "Pick up the white bottle and shake it.",
+    "Lift up the white bottle for liquids using the left arm, then shake.",
+    "Shake the white bottle thoroughly after grabbing it.",
+    "Use the left arm to grab the white bottle and shake it.",
+    "Use the left arm to grab the smooth bottle and shake properly.",
+    "Lift the medium-sized bottle and shake it gently.",
+    "Lift the cylindrical bottle with red writing and shake it thoroughly.",
+    "Take the white bottle with red text using the left arm and give it a shake.",
+    "Grab the medium-sized bottle firmly, shake it, and put it down.",
+    "Grab the handheld white bottle with cap using the left arm, then shake.",
+    "Pick the white bottle for liquids up using the left arm and shake it.",
+    "Grasp the cylindrical bottle with red writing with the left arm and shake it.",
+    "Shake the white bottle for liquids firmly after grabbing.",
+    "Shake the the smooth bottle properly after lifting.",
+    "Use the left arm to lift and shake the white bottle.",
+    "Pick up the white bottle for liquids and shake it well.",
+    "Grab the handheld white bottle with cap and give it a shake.",
+    "Using the left arm, shake the white bottle with orange lid and then place it back.",
+    "Shake the white bottle with red text after grabbing it.",
+    "Use the left arm to lift and shake the white bottle for liquids.",
+    "Hold the white bottle and shake it properly.",
+    "Grab the white cylindrical bottle with the left arm and shake.",
+    "Lift the bottle with orange screw cap with the left arm and give it a shake.",
+    "Hold the smooth bottle steady, then shake it.",
+    "Pick the white bottle with orange lid up with the left arm and shake.",
+    "Use the left arm to hold the cylindrical bottle with red writing and shake it.",
+    "Grab and shake the bottle with tapering neck using the left arm.",
+    "Grip the white bottle for liquids using the left arm and shake.",
+    "Shake the cylindrical bottle with red writing using the left arm after grabbing.",
+    "Shake the bottle with orange screw cap after lifting it.",
+    "Hold and shake the the bottle with orange screw cap carefully.",
+    "Use the left arm to pick and shake the handheld white bottle with cap.",
+    "Shake the white bottle for liquids after grabbing it.",
+    "Lift the white bottle for liquids with the left arm and shake.",
+    "Hold the medium-sized bottle with the left arm and shake lightly.",
+    "Grab the white bottle with red text carefully and shake.",
+    "Hold the smooth bottle, shake it briefly.",
+    "Secure the white bottle, shake it, and place it down.",
+    "Use the left arm to lift and shake the cylindrical bottle with red writing.",
+    "Grab the white bottle with red text and shake it steadily.",
+    "Shake the cylindrical bottle with red writing after holding it firmly.",
+    "Shake the smooth bottle after grabbing it.",
+    "Secure the medium-sized bottle and perform a shake.",
+    "Pick the handheld white bottle with cap and perform shaking motion.",
+    "Catch the white bottle for liquids and shake it instantly.",
+    "With the left arm, pick the white bottle for liquids and shake properly.",
+    "Grab the white bottle with red text and move it to shake.",
+    "Pick the white bottle with red text, shake it with the left arm.",
+    "Lift the bottle with tapering neck with the left arm and shake it.",
+    "Utilize the left arm to hold the bottle with tapering neck and shake it.",
+    "Pick up the white cylindrical bottle and shake it.",
+    "Lift up the white bottle with orange lid using the left arm, then shake.",
+    "Shake the plastic bottle thoroughly after grabbing it.",
+    "Use the left arm to grab the white bottle for liquids and shake it.",
+    "Use the left arm to grab the plastic bottle and shake properly.",
+    "Lift the white bottle and shake it gently.",
+    "Lift the bottle with orange screw cap and shake it thoroughly.",
+    "Take the handheld white bottle with cap using the left arm and give it a shake.",
+    "Grab the white cylindrical bottle firmly, shake it, and put it down.",
+    "Grab the bottle with orange screw cap using the left arm, then shake.",
+    "Pick the smooth bottle up using the left arm and shake it.",
+    "Grasp the cylindrical bottle with red writing with the left arm and shake it.",
+    "Shake the cylindrical bottle with red writing firmly after grabbing.",
+    "Shake the the smooth bottle properly after lifting.",
+    "Use the left arm to lift and shake the plastic bottle."
+  ],
+  "unseen": [
+    "Pick up the bottle with glossy surface and shake it.",
+    "Use the left arm to pick the plastic bottle with printed label.",
+    "Pick up the plastic bottle with printed label and shake it.",
+    "Shake the bottle with orange cap after picking it with the left arm.",
+    "Grab the plastic bottle with printed label, shake it properly, then set it down.",
+    "Grab the plastic bottle with printed label and give it a shake.",
+    "Grab the bottle with glossy surface and shake it.",
+    "Use the left arm to grab the plastic bottle with printed label and shake.",
+    "Pick and shake the the plastic bottle with printed label with the left arm.",
+    "Pick up the plastic bottle with printed label with the left arm and shake.",
+    "Pick up the bottle with glossy surface and shake it.",
+    "Use the left arm to pick the bottle with glossy surface.",
+    "Pick up the bottle with glossy surface and shake it.",
+    "Shake the bottle with orange cap after picking it with the left arm.",
+    "Grab the bottle with glossy surface, shake it properly, then set it down.",
+    "Grab the bottle with orange cap and give it a shake.",
+    "Grab the bottle with glossy surface and shake it.",
+    "Use the left arm to grab the bottle with orange cap and shake.",
+    "Pick and shake the the plastic bottle with printed label with the left arm.",
+    "Pick up the plastic bottle with printed label with the left arm and shake.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Use the left arm to pick the bottle with orange cap.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Shake the bottle with orange cap after picking it with the left arm.",
+    "Grab the plastic bottle with printed label, shake it properly, then set it down.",
+    "Grab the plastic bottle with printed label and give it a shake.",
+    "Grab the plastic bottle with printed label and shake it.",
+    "Use the left arm to grab the bottle with glossy surface and shake.",
+    "Pick and shake the the bottle with glossy surface with the left arm.",
+    "Pick up the bottle with orange cap with the left arm and shake.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Use the left arm to pick the plastic bottle with printed label.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Shake the bottle with glossy surface after picking it with the left arm.",
+    "Grab the bottle with glossy surface, shake it properly, then set it down.",
+    "Grab the bottle with orange cap and give it a shake.",
+    "Grab the bottle with glossy surface and shake it.",
+    "Use the left arm to grab the bottle with orange cap and shake.",
+    "Pick and shake the the bottle with orange cap with the left arm.",
+    "Pick up the plastic bottle with printed label with the left arm and shake.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Use the left arm to pick the bottle with glossy surface.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Shake the bottle with orange cap after picking it with the left arm.",
+    "Grab the bottle with glossy surface, shake it properly, then set it down.",
+    "Grab the bottle with orange cap and give it a shake.",
+    "Grab the plastic bottle with printed label and shake it.",
+    "Use the left arm to grab the bottle with orange cap and shake.",
+    "Pick and shake the the plastic bottle with printed label with the left arm.",
+    "Pick up the bottle with orange cap with the left arm and shake.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Use the left arm to pick the bottle with glossy surface.",
+    "Pick up the plastic bottle with printed label and shake it.",
+    "Shake the bottle with orange cap after picking it with the left arm.",
+    "Grab the bottle with glossy surface, shake it properly, then set it down.",
+    "Grab the plastic bottle with printed label and give it a shake.",
+    "Grab the bottle with orange cap and shake it.",
+    "Use the left arm to grab the plastic bottle with printed label and shake.",
+    "Pick and shake the the bottle with orange cap with the left arm.",
+    "Pick up the bottle with orange cap with the left arm and shake.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Use the left arm to pick the bottle with orange cap.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Shake the bottle with glossy surface after picking it with the left arm.",
+    "Grab the bottle with glossy surface, shake it properly, then set it down.",
+    "Grab the plastic bottle with printed label and give it a shake.",
+    "Grab the plastic bottle with printed label and shake it.",
+    "Use the left arm to grab the plastic bottle with printed label and shake.",
+    "Pick and shake the the bottle with glossy surface with the left arm.",
+    "Pick up the bottle with glossy surface with the left arm and shake.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Use the left arm to pick the plastic bottle with printed label.",
+    "Pick up the bottle with glossy surface and shake it.",
+    "Shake the bottle with orange cap after picking it with the left arm.",
+    "Grab the plastic bottle with printed label, shake it properly, then set it down.",
+    "Grab the bottle with glossy surface and give it a shake.",
+    "Grab the bottle with orange cap and shake it.",
+    "Use the left arm to grab the bottle with glossy surface and shake.",
+    "Pick and shake the the plastic bottle with printed label with the left arm.",
+    "Pick up the plastic bottle with printed label with the left arm and shake.",
+    "Pick up the bottle with glossy surface and shake it.",
+    "Use the left arm to pick the bottle with orange cap.",
+    "Pick up the bottle with glossy surface and shake it.",
+    "Shake the plastic bottle with printed label after picking it with the left arm.",
+    "Grab the plastic bottle with printed label, shake it properly, then set it down.",
+    "Grab the plastic bottle with printed label and give it a shake.",
+    "Grab the bottle with orange cap and shake it.",
+    "Use the left arm to grab the bottle with glossy surface and shake.",
+    "Pick and shake the the bottle with orange cap with the left arm.",
+    "Pick up the plastic bottle with printed label with the left arm and shake.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Use the left arm to pick the bottle with glossy surface.",
+    "Pick up the plastic bottle with printed label and shake it.",
+    "Shake the bottle with glossy surface after picking it with the left arm.",
+    "Grab the bottle with glossy surface, shake it properly, then set it down.",
+    "Grab the plastic bottle with printed label and give it a shake.",
+    "Grab the bottle with orange cap and shake it.",
+    "Use the left arm to grab the bottle with glossy surface and shake.",
+    "Pick and shake the the bottle with glossy surface with the left arm.",
+    "Pick up the bottle with glossy surface with the left arm and shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004320.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004320.json
new file mode 100644
index 0000000000000000000000000000000000000000..87116ab1eaefd8e30c39033d0e2ee15a29ea9916
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004320.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to lift and shake the Coca-Cola bottle.",
+    "Shake the bottle with white neck and red top firmly after grabbing.",
+    "Hold the Coca-Cola bottle steady, then shake it.",
+    "Hold the long thin bottle and shake it properly.",
+    "With the right arm, pick the dark drink bottle with logo and shake properly.",
+    "Lift up the smooth bottle with red lid using the right arm, then shake.",
+    "Utilize the right arm to hold the dark drink bottle with logo and shake it.",
+    "Lift the bottle with ridges on bottom with the right arm and give it a shake.",
+    "Hold the medium dark brown bottle, shake it briefly.",
+    "Pick up the long thin bottle and shake it well.",
+    "Grab the long thin bottle and shake it steadily.",
+    "Shake the bottle with white neck and red top after grabbing it.",
+    "Use the right arm to grab the bottle with white neck and red top and shake it.",
+    "Shake the the hand-sized soda bottle properly after lifting.",
+    "Lift the hand-sized soda bottle with the right arm and shake it.",
+    "Pick the smooth bottle with red lid and perform shaking motion.",
+    "Secure the Coca-Cola bottle and perform a shake.",
+    "Grip the bottle with ridges on bottom using the right arm and shake.",
+    "Pick the red-capped bottle, shake it with the right arm.",
+    "Hold the bottle with ridges on bottom with the right arm and shake lightly.",
+    "Grasp the smooth bottle with red lid with the right arm and shake it.",
+    "Grab the hand-sized soda bottle and move it to shake.",
+    "Pick the long thin bottle up with the right arm and shake.",
+    "Shake the dark drink bottle with logo after holding it firmly.",
+    "Use the right arm to hold the red-capped bottle and shake it.",
+    "Lift the brown bottle with red label with the right arm and shake.",
+    "Secure the bottle with white neck and red top, shake it, and place it down.",
+    "Use the right arm to lift and shake the brown bottle with red label.",
+    "Pick up the dark drink bottle with logo and shake it.",
+    "Grab the red-capped bottle firmly, shake it, and put it down.",
+    "Grab the brown bottle with red label and give it a shake.",
+    "Grab and shake the bottle with ridges on bottom using the right arm.",
+    "Grab the brown bottle with red label with the right arm and shake.",
+    "Hold and shake the the brown bottle with red label carefully.",
+    "Use the right arm to pick and shake the smooth bottle with red lid.",
+    "Pick the bottle with white neck and red top up using the right arm and shake it.",
+    "Shake the brown bottle with red label using the right arm after grabbing.",
+    "Lift the narrow-necked bottle and shake it thoroughly.",
+    "Shake the brown bottle with red label after grabbing it.",
+    "Shake the smooth bottle with red lid thoroughly after grabbing it.",
+    "Lift the brown bottle with red label and shake it gently.",
+    "Using the right arm, shake the narrow-necked bottle and then place it back.",
+    "Grab the red-capped bottle using the right arm, then shake.",
+    "Shake the Coca-Cola bottle after lifting it.",
+    "Shake the medium dark brown bottle after grabbing it.",
+    "Catch the dark drink bottle with logo and shake it instantly.",
+    "Use the right arm to lift and shake the narrow-necked bottle.",
+    "Grab the hand-sized soda bottle carefully and shake.",
+    "Take the hand-sized soda bottle using the right arm and give it a shake.",
+    "Use the right arm to grab the bottle with ridges on bottom and shake properly.",
+    "Use the right arm to lift and shake the bottle with white neck and red top.",
+    "Shake the red-capped bottle firmly after grabbing.",
+    "Hold the dark drink bottle with logo steady, then shake it.",
+    "Hold the Coca-Cola bottle and shake it properly.",
+    "With the right arm, pick the medium dark brown bottle and shake properly.",
+    "Lift up the bottle with ridges on bottom using the right arm, then shake.",
+    "Utilize the right arm to hold the Coca-Cola bottle and shake it.",
+    "Lift the brown bottle with red label with the right arm and give it a shake.",
+    "Hold the plastic drink bottle, shake it briefly.",
+    "Pick up the narrow-necked bottle and shake it well.",
+    "Grab the long thin bottle and shake it steadily.",
+    "Shake the long thin bottle after grabbing it.",
+    "Use the right arm to grab the narrow-necked bottle and shake it.",
+    "Shake the the dark drink bottle with logo properly after lifting.",
+    "Lift the dark drink bottle with logo with the right arm and shake it.",
+    "Pick the medium dark brown bottle and perform shaking motion.",
+    "Secure the narrow-necked bottle and perform a shake.",
+    "Grip the bottle with ridges on bottom using the right arm and shake.",
+    "Pick the red-capped bottle, shake it with the right arm.",
+    "Hold the plastic drink bottle with the right arm and shake lightly.",
+    "Grasp the plastic drink bottle with the right arm and shake it.",
+    "Grab the brown bottle with red label and move it to shake.",
+    "Pick the dark drink bottle with logo up with the right arm and shake.",
+    "Shake the red-capped bottle after holding it firmly.",
+    "Use the right arm to hold the brown bottle with red label and shake it.",
+    "Lift the brown bottle with red label with the right arm and shake.",
+    "Secure the brown bottle with red label, shake it, and place it down.",
+    "Use the right arm to lift and shake the smooth bottle with red lid.",
+    "Pick up the bottle with ridges on bottom and shake it.",
+    "Grab the Coca-Cola bottle firmly, shake it, and put it down.",
+    "Grab the bottle with ridges on bottom and give it a shake.",
+    "Grab and shake the Coca-Cola bottle using the right arm.",
+    "Grab the medium dark brown bottle with the right arm and shake.",
+    "Hold and shake the the brown bottle with red label carefully.",
+    "Use the right arm to pick and shake the brown bottle with red label.",
+    "Pick the hand-sized soda bottle up using the right arm and shake it.",
+    "Shake the Coca-Cola bottle using the right arm after grabbing.",
+    "Lift the Coca-Cola bottle and shake it thoroughly.",
+    "Shake the bottle with white neck and red top after grabbing it.",
+    "Shake the dark drink bottle with logo thoroughly after grabbing it.",
+    "Lift the bottle with ridges on bottom and shake it gently.",
+    "Using the right arm, shake the red-capped bottle and then place it back.",
+    "Grab the hand-sized soda bottle using the right arm, then shake.",
+    "Shake the dark drink bottle with logo after lifting it.",
+    "Shake the long thin bottle after grabbing it.",
+    "Catch the red-capped bottle and shake it instantly.",
+    "Use the right arm to lift and shake the dark drink bottle with logo.",
+    "Grab the bottle with ridges on bottom carefully and shake.",
+    "Take the smooth bottle with red lid using the right arm and give it a shake.",
+    "Use the right arm to grab the medium dark brown bottle and shake properly."
+  ],
+  "unseen": [
+    "Use the right arm to pick the plastic soda bottle.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Grab the plastic soda bottle and shake it.",
+    "Pick up the plastic soda bottle with the right arm and shake.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Use the right arm to pick the bottle with red screw cap.",
+    "Grab the bottle with red screw cap and give it a shake.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with red screw cap and shake.",
+    "Grab the plastic soda bottle and shake it.",
+    "Pick up the plastic soda bottle with the right arm and shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Use the right arm to pick the bottle with red screw cap.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick and shake the the plastic soda bottle with the right arm.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Use the right arm to pick the plastic soda bottle.",
+    "Grab the bottle with red screw cap and give it a shake.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the plastic soda bottle and shake.",
+    "Grab the plastic soda bottle and shake it.",
+    "Pick up the plastic soda bottle with the right arm and shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick and shake the the bottle with red screw cap with the right arm.",
+    "Shake the bottle with red screw cap after picking it with the right arm.",
+    "Use the right arm to pick the bottle with red screw cap.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the plastic soda bottle and shake.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Pick up the plastic soda bottle with the right arm and shake.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Pick and shake the the bottle with red screw cap with the right arm.",
+    "Shake the plastic soda bottle after picking it with the right arm.",
+    "Use the right arm to pick the brown bottle.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the plastic soda bottle and shake.",
+    "Grab the brown bottle and shake it.",
+    "Pick up the bottle with red screw cap with the right arm and shake.",
+    "Pick up the brown bottle and shake it.",
+    "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.",
+    "Use the right arm to pick the brown bottle.",
+    "Grab the brown bottle 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 right arm to grab the plastic soda bottle and shake.",
+    "Grab the plastic soda bottle and shake it.",
+    "Pick up the plastic soda bottle with the right arm and shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Use the right arm to pick the bottle with red screw cap.",
+    "Grab the plastic soda bottle 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 right arm to grab the brown bottle and shake.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Use the right arm to pick the plastic soda bottle.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Grab the plastic soda bottle and shake it.",
+    "Pick up the plastic soda bottle with the right arm and shake.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Pick and shake the the bottle with red screw cap with the right arm.",
+    "Shake the bottle with red screw cap after picking it with the right arm.",
+    "Use the right arm to pick the bottle with red screw cap.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Use the right arm to grab the plastic soda bottle and shake.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Pick up the plastic soda bottle with the right arm and shake.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Pick and shake the the bottle with red screw cap with the right arm.",
+    "Shake the brown bottle after picking it with the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004330.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004330.json
new file mode 100644
index 0000000000000000000000000000000000000000..479be143c662571a4c395dc1d2b4a8833ac938bc
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004330.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grip the smooth orange bottle using the right arm and shake.",
+    "Shake the grooved orange drink bottle after lifting it.",
+    "Use the right arm to grab the medium bottle with colorful label and shake it.",
+    "Shake the ridged orange bottle with grooves after grabbing it.",
+    "Shake the orange drink bottle with label after grabbing it.",
+    "Grab the curved orange soda bottle and move it to shake.",
+    "Grab the light and medium-sized bottle and shake it steadily.",
+    "Shake the orange bottle after grabbing it.",
+    "Pick the grooved orange drink bottle, shake it with the right arm.",
+    "Hold the round-bottom bottle with white cap, shake it briefly.",
+    "Shake the the plastic bottle properly after lifting.",
+    "Hold and shake the the grooved orange drink bottle carefully.",
+    "Lift up the orange drink bottle with label using the right arm, then shake.",
+    "Catch the plastic bottle and shake it instantly.",
+    "Secure the round-bottom bottle with white cap, shake it, and place it down.",
+    "Hold the plastic bottle with the right arm and shake lightly.",
+    "Pick the grooved orange drink bottle up with the right arm and shake.",
+    "Using the right arm, shake the smooth orange bottle and then place it back.",
+    "Pick up the cylindrical orange plastic bottle and shake it.",
+    "Lift the curved orange soda bottle with the right arm and shake it.",
+    "Grab the cylindrical orange plastic bottle with the right arm and shake.",
+    "Secure the cylindrical orange plastic bottle and perform a shake.",
+    "Hold the orange bottle and shake it properly.",
+    "Pick the plastic bottle and perform shaking motion.",
+    "Use the right arm to hold the orange drink bottle with label and shake it.",
+    "Grab the plastic bottle and give it a shake.",
+    "Lift the cylindrical orange plastic bottle with the right arm and give it a shake.",
+    "With the right arm, pick the plastic bottle and shake properly.",
+    "Use the right arm to lift and shake the curved orange soda bottle.",
+    "Shake the grooved orange drink bottle using the right arm after grabbing.",
+    "Grab and shake the grooved orange drink bottle using the right arm.",
+    "Grab the smooth orange bottle using the right arm, then shake.",
+    "Lift the orange drink bottle with label and shake it gently.",
+    "Shake the light and medium-sized bottle thoroughly after grabbing it.",
+    "Take the ridged orange bottle with grooves using the right arm and give it a shake.",
+    "Use the right arm to lift and shake the round-bottom bottle with white cap.",
+    "Use the right arm to pick and shake the round-bottom bottle with white cap.",
+    "Pick the light and medium-sized bottle up using the right arm and shake it.",
+    "Pick up the light and medium-sized bottle and shake it well.",
+    "Lift the ridged orange bottle with grooves with the right arm and shake.",
+    "Use the right arm to grab the orange bottle and shake properly.",
+    "Shake the grooved orange drink bottle firmly after grabbing.",
+    "Utilize the right arm to hold the cylindrical orange plastic bottle and shake it.",
+    "Shake the grooved orange drink bottle after holding it firmly.",
+    "Grab the plastic bottle carefully and shake.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Lift the medium bottle with colorful label and shake it thoroughly.",
+    "Hold the orange bottle steady, then shake it.",
+    "Grab the medium bottle with colorful label firmly, shake it, and put it down.",
+    "Grasp the smooth orange bottle with the right arm and shake it.",
+    "Grip the bottle for holding drinks using the right arm and shake.",
+    "Shake the ridged orange bottle with grooves after lifting it.",
+    "Use the right arm to grab the grooved orange drink bottle and shake it.",
+    "Shake the orange bottle after grabbing it.",
+    "Shake the orange drink bottle with label after grabbing it.",
+    "Grab the plastic bottle and move it to shake.",
+    "Grab the ridged orange bottle with grooves and shake it steadily.",
+    "Shake the light and medium-sized bottle after grabbing it.",
+    "Pick the cylindrical orange plastic bottle, shake it with the right arm.",
+    "Hold the smooth orange bottle, shake it briefly.",
+    "Shake the the orange bottle properly after lifting.",
+    "Hold and shake the the ridged orange bottle with grooves carefully.",
+    "Lift up the cylindrical orange plastic bottle using the right arm, then shake.",
+    "Catch the round-bottom bottle with white cap and shake it instantly.",
+    "Secure the plastic bottle, shake it, and place it down.",
+    "Hold the orange bottle with the right arm and shake lightly.",
+    "Pick the grooved orange drink bottle up with the right arm and shake.",
+    "Using the right arm, shake the plastic bottle and then place it back.",
+    "Pick up the orange drink bottle with label and shake it.",
+    "Lift the orange bottle with the right arm and shake it.",
+    "Grab the curved orange soda bottle with the right arm and shake.",
+    "Secure the smooth orange bottle and perform a shake.",
+    "Hold the ridged orange bottle with grooves and shake it properly.",
+    "Pick the cylindrical orange plastic bottle and perform shaking motion.",
+    "Use the right arm to hold the smooth orange bottle and shake it.",
+    "Grab the curved orange soda bottle and give it a shake.",
+    "Lift the cylindrical orange plastic bottle with the right arm and give it a shake.",
+    "With the right arm, pick the ridged orange bottle with grooves and shake properly.",
+    "Use the right arm to lift and shake the light and medium-sized bottle.",
+    "Shake the round-bottom bottle with white cap using the right arm after grabbing.",
+    "Grab and shake the cylindrical orange plastic bottle using the right arm.",
+    "Grab the grooved orange drink bottle using the right arm, then shake.",
+    "Lift the orange bottle and shake it gently.",
+    "Shake the ridged orange bottle with grooves thoroughly after grabbing it.",
+    "Take the medium bottle with colorful label using the right arm and give it a shake.",
+    "Use the right arm to lift and shake the light and medium-sized bottle.",
+    "Use the right arm to pick and shake the orange drink bottle with label.",
+    "Pick the cylindrical orange plastic bottle up using the right arm and shake it.",
+    "Pick up the medium bottle with colorful label and shake it well.",
+    "Lift the light and medium-sized bottle with the right arm and shake.",
+    "Use the right arm to grab the bottle for holding drinks and shake properly.",
+    "Shake the orange drink bottle with label firmly after grabbing.",
+    "Utilize the right arm to hold the plastic bottle and shake it.",
+    "Shake the orange drink bottle with label after holding it firmly.",
+    "Grab the orange bottle carefully and shake.",
+    "Use the right arm to lift and shake the curved orange soda bottle.",
+    "Lift the light and medium-sized bottle and shake it thoroughly.",
+    "Hold the ridged orange bottle with grooves steady, then shake it.",
+    "Grab the orange drink bottle with label firmly, shake it, and put it down.",
+    "Grasp the plastic bottle with the right arm and shake it."
+  ],
+  "unseen": [
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "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.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Shake the bottle with ridged orange grip after picking it with the right arm.",
+    "Use the right arm to pick the bottle with white cap.",
+    "Pick and shake the the white capped orange plastic bottle with the right arm.",
+    "Grab the bottle with white cap and shake it.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "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.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Shake the bottle with white cap after picking it with the right arm.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "Pick and shake the the white capped orange plastic bottle with the right arm.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Pick up the bottle with white cap with the right arm and shake.",
+    "Use the right arm to grab the bottle with white cap and shake.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with white cap and shake it.",
+    "Shake the bottle with white cap after picking it with the right arm.",
+    "Use the right arm to pick the bottle with white cap.",
+    "Pick and shake the the bottle with white cap with the right arm.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "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.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Shake the bottle with ridged orange grip after picking it with the right arm.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "Pick and shake the the bottle with white cap with the right arm.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "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.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Shake the bottle with ridged orange grip after picking it with the right arm.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "Pick and shake the the bottle with white cap with the right arm.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Pick up the bottle with white cap with the right arm and shake.",
+    "Use the right arm to grab the bottle with white cap and shake.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Shake the bottle with ridged orange grip after picking it with the right arm.",
+    "Use the right arm to pick the bottle with ridged orange grip.",
+    "Pick and shake the the white capped orange plastic bottle with the right arm.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "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.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Shake the bottle with ridged orange grip after picking it with the right arm.",
+    "Use the right arm to pick the bottle with ridged orange grip.",
+    "Pick and shake the the white capped orange plastic bottle with the right arm.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "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.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Shake the white capped orange plastic bottle after picking it with the right arm.",
+    "Use the right arm to pick the bottle with ridged orange grip.",
+    "Pick and shake the the bottle with ridged orange grip with the right arm.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Pick up the bottle with white cap with the right arm and shake.",
+    "Use the right arm to grab the bottle with ridged orange grip and shake.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Shake the white capped orange plastic bottle after picking it with the right arm.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "Pick and shake the the bottle with ridged orange grip with the right arm.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Pick up the bottle with white cap with the right arm and shake.",
+    "Use the right arm to grab the bottle with white cap and shake.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Pick up the bottle with white cap and shake it.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Shake the bottle with ridged orange grip after picking it with the right arm.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "Pick and shake the the bottle with white cap with the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004354.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004354.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd835415c09ad32e3c7e660fc65952b1b2f0ce57
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10004354.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the bottle with white cap up with the left arm and shake.",
+    "Grab the yellow bottle with cylindrical cap and move it to shake.",
+    "Lift the yellow bottle and shake it thoroughly.",
+    "Shake the yellow bottle with flower design using the left arm after grabbing.",
+    "Pick the plastic bottle and perform shaking motion.",
+    "Pick up the plastic bottle and shake it.",
+    "Lift up the yellow bottle using the left arm, then shake.",
+    "With the left arm, pick the yellow bottle with flower design and shake properly.",
+    "Grab the smooth yellow plastic bottle and shake it steadily.",
+    "Use the left arm to pick and shake the bottle with white cap.",
+    "Secure the yellow bottle and perform a shake.",
+    "Use the left arm to hold the handheld bottle and shake it.",
+    "Catch the yellow bottle with flower design and shake it instantly.",
+    "Shake the yellow body bottle after grabbing it.",
+    "Shake the yellow bottle with green label after holding it firmly.",
+    "Use the left arm to lift and shake the rectangular bottle.",
+    "Lift the rectangular bottle with the left arm and shake.",
+    "Hold the bottle with white cap and shake it properly.",
+    "Grab and shake the bottle with green and white label using the left arm.",
+    "Grab the plastic bottle carefully and shake.",
+    "Pick the rectangular bottle, shake it with the left arm.",
+    "Use the left arm to lift and shake the bottle with white cap.",
+    "Use the left arm to grab the bottle for liquids and shake properly.",
+    "Grab the yellow bottle with cylindrical cap using the left arm, then shake.",
+    "Utilize the left arm to hold the handheld bottle and shake it.",
+    "Grasp the yellow body bottle with the left arm and shake it.",
+    "Use the left arm to grab the bottle with green and white label and shake it.",
+    "Hold the plastic bottle, shake it briefly.",
+    "Lift the plastic bottle with the left arm and shake it.",
+    "Hold the yellow body bottle with the left arm and shake lightly.",
+    "Take the bottle for liquids using the left arm and give it a shake.",
+    "Grab the yellow bottle with flower design firmly, shake it, and put it down.",
+    "Shake the yellow bottle with flower design after grabbing it.",
+    "Shake the rectangular bottle firmly after grabbing.",
+    "Grab the bottle for liquids with the left arm and shake.",
+    "Shake the the bottle with green and white label properly after lifting.",
+    "Pick the rectangular bottle up using the left arm and shake it.",
+    "Use the left arm to lift and shake the smooth yellow plastic bottle.",
+    "Using the left arm, shake the yellow bottle with cylindrical cap and then place it back.",
+    "Shake the bottle with white cap thoroughly after grabbing it.",
+    "Shake the yellow body bottle after grabbing it.",
+    "Grab the bottle for liquids and give it a shake.",
+    "Lift the rectangular bottle and shake it gently.",
+    "Grip the smooth yellow plastic bottle using the left arm and shake.",
+    "Shake the yellow bottle with green label after lifting it.",
+    "Hold the rectangular bottle steady, then shake it.",
+    "Secure the bottle for liquids, shake it, and place it down.",
+    "Hold and shake the the yellow bottle with cylindrical cap carefully.",
+    "Lift the handheld bottle with the left arm and give it a shake.",
+    "Pick up the yellow bottle and shake it well.",
+    "Pick the smooth yellow plastic bottle up with the left arm and shake.",
+    "Grab the bottle with green and white label and move it to shake.",
+    "Lift the yellow bottle and shake it thoroughly.",
+    "Shake the yellow bottle using the left arm after grabbing.",
+    "Pick the bottle for liquids and perform shaking motion.",
+    "Pick up the yellow bottle with cylindrical cap and shake it.",
+    "Lift up the plastic bottle using the left arm, then shake.",
+    "With the left arm, pick the smooth yellow plastic bottle and shake properly.",
+    "Grab the rectangular bottle and shake it steadily.",
+    "Use the left arm to pick and shake the yellow body bottle.",
+    "Secure the yellow bottle with green label and perform a shake.",
+    "Use the left arm to hold the plastic bottle and shake it.",
+    "Catch the bottle with green and white label and shake it instantly.",
+    "Shake the rectangular bottle after grabbing it.",
+    "Shake the yellow bottle after holding it firmly.",
+    "Use the left arm to lift and shake the yellow bottle.",
+    "Lift the yellow bottle with cylindrical cap with the left arm and shake.",
+    "Hold the yellow body bottle and shake it properly.",
+    "Grab and shake the rectangular bottle using the left arm.",
+    "Grab the yellow body bottle carefully and shake.",
+    "Pick the plastic bottle, shake it with the left arm.",
+    "Use the left arm to lift and shake the yellow bottle.",
+    "Use the left arm to grab the yellow bottle and shake properly.",
+    "Grab the bottle for liquids using the left arm, then shake.",
+    "Utilize the left arm to hold the bottle with white cap and shake it.",
+    "Grasp the handheld bottle with the left arm and shake it.",
+    "Use the left arm to grab the yellow bottle with flower design and shake it.",
+    "Hold the plastic bottle, shake it briefly.",
+    "Lift the smooth yellow plastic bottle with the left arm and shake it.",
+    "Hold the yellow bottle with flower design with the left arm and shake lightly.",
+    "Take the bottle for liquids using the left arm and give it a shake.",
+    "Grab the yellow bottle with cylindrical cap firmly, shake it, and put it down.",
+    "Shake the bottle for liquids after grabbing it.",
+    "Shake the plastic bottle firmly after grabbing.",
+    "Grab the bottle for liquids with the left arm and shake.",
+    "Shake the the bottle with green and white label properly after lifting.",
+    "Pick the yellow body bottle up using the left arm and shake it.",
+    "Use the left arm to lift and shake the rectangular bottle.",
+    "Using the left arm, shake the bottle for liquids and then place it back.",
+    "Shake the rectangular bottle thoroughly after grabbing it.",
+    "Shake the handheld bottle after grabbing it.",
+    "Grab the rectangular bottle and give it a shake.",
+    "Lift the rectangular bottle and shake it gently.",
+    "Grip the bottle for liquids using the left arm and shake.",
+    "Shake the plastic bottle after lifting it.",
+    "Hold the plastic bottle steady, then shake it.",
+    "Secure the plastic bottle, shake it, and place it down.",
+    "Hold and shake the the yellow bottle with green label carefully.",
+    "Lift the yellow bottle with flower design with the left arm and give it a shake.",
+    "Pick up the bottle with green and white label and shake it well."
+  ],
+  "unseen": [
+    "Use the left arm to pick the bottle with rounded edges.",
+    "Pick up the medium bottle and shake it.",
+    "Use the left arm to grab the bottle with printed label and shake.",
+    "Shake the medium bottle after picking it with the left arm.",
+    "Grab the medium bottle and give it a shake.",
+    "Grab the bottle with printed label, shake it properly, then set it down.",
+    "Pick up the bottle with rounded edges and shake it.",
+    "Pick up the medium bottle with the left arm and shake.",
+    "Grab the bottle with printed label and shake it.",
+    "Pick and shake the the bottle with printed label with the left arm.",
+    "Use the left arm to pick the bottle with rounded edges.",
+    "Pick up the bottle with rounded edges and shake it.",
+    "Use the left arm to grab the bottle with printed label and shake.",
+    "Shake the bottle with printed label after picking it with the left arm.",
+    "Grab the medium bottle and give it a shake.",
+    "Grab the bottle with printed label, shake it properly, then set it down.",
+    "Pick up the bottle with printed label and shake it.",
+    "Pick up the medium bottle with the left arm and shake.",
+    "Grab the bottle with printed label and shake it.",
+    "Pick and shake the the bottle with printed label with the left arm.",
+    "Use the left arm to pick the medium bottle.",
+    "Pick up the bottle with rounded edges and shake it.",
+    "Use the left arm to grab the bottle with printed label and shake.",
+    "Shake the bottle with printed label after picking it with the left arm.",
+    "Grab the bottle with rounded edges and give it a shake.",
+    "Grab the bottle with printed label, shake it properly, then set it down.",
+    "Pick up the bottle with rounded edges and shake it.",
+    "Pick up the bottle with printed label with the left arm and shake.",
+    "Grab the medium bottle and shake it.",
+    "Pick and shake the the bottle with rounded edges with the left arm.",
+    "Use the left arm to pick the bottle with printed label.",
+    "Pick up the medium bottle and shake it.",
+    "Use the left arm to grab the bottle with rounded edges and shake.",
+    "Shake the bottle with rounded edges after picking it with the left arm.",
+    "Grab the bottle with rounded edges and give it a shake.",
+    "Grab the bottle with rounded edges, shake it properly, then set it down.",
+    "Pick up the bottle with printed label and shake it.",
+    "Pick up the bottle with rounded edges with the left arm and shake.",
+    "Grab the bottle with printed label and shake it.",
+    "Pick and shake the the medium bottle with the left arm.",
+    "Use the left arm to pick the bottle with printed label.",
+    "Pick up the bottle with rounded edges and shake it.",
+    "Use the left arm to grab the medium bottle and shake.",
+    "Shake the bottle with printed label after picking it with the left arm.",
+    "Grab the bottle with rounded edges and give it a shake.",
+    "Grab the bottle with rounded edges, shake it properly, then set it down.",
+    "Pick up the medium bottle and shake it.",
+    "Pick up the bottle with printed label with the left arm and shake.",
+    "Grab the bottle with printed label and shake it.",
+    "Pick and shake the the bottle with printed label with the left arm.",
+    "Use the left arm to pick the medium bottle.",
+    "Pick up the bottle with rounded edges and shake it.",
+    "Use the left arm to grab the medium bottle and shake.",
+    "Shake the bottle with rounded edges after picking it with the left arm.",
+    "Grab the medium bottle and give it a shake.",
+    "Grab the bottle with printed label, shake it properly, then set it down.",
+    "Pick up the medium bottle and shake it.",
+    "Pick up the bottle with rounded edges with the left arm and shake.",
+    "Grab the bottle with printed label and shake it.",
+    "Pick and shake the the bottle with rounded edges with the left arm.",
+    "Use the left arm to pick the medium bottle.",
+    "Pick up the bottle with rounded edges and shake it.",
+    "Use the left arm to grab the bottle with rounded edges and shake.",
+    "Shake the medium bottle after picking it with the left arm.",
+    "Grab the bottle with rounded edges and give it a shake.",
+    "Grab the medium bottle, shake it properly, then set it down.",
+    "Pick up the medium bottle and shake it.",
+    "Pick up the bottle with printed label with the left arm and shake.",
+    "Grab the medium bottle and shake it.",
+    "Pick and shake the the bottle with printed label with the left arm.",
+    "Use the left arm to pick the bottle with printed label.",
+    "Pick up the bottle with printed label and shake it.",
+    "Use the left arm to grab the bottle with rounded edges and shake.",
+    "Shake the medium bottle after picking it with the left arm.",
+    "Grab the medium bottle and give it a shake.",
+    "Grab the bottle with printed label, shake it properly, then set it down.",
+    "Pick up the bottle with printed label and shake it.",
+    "Pick up the medium bottle with the left arm and shake.",
+    "Grab the bottle with rounded edges and shake it.",
+    "Pick and shake the the medium bottle with the left arm.",
+    "Use the left arm to pick the bottle with printed label.",
+    "Pick up the bottle with printed label and shake it.",
+    "Use the left arm to grab the bottle with printed label and shake.",
+    "Shake the bottle with printed label after picking it with the left arm.",
+    "Grab the bottle with printed label and give it a shake.",
+    "Grab the bottle with rounded edges, shake it properly, then set it down.",
+    "Pick up the bottle with printed label and shake it.",
+    "Pick up the bottle with rounded edges with the left arm and shake.",
+    "Grab the medium bottle and shake it.",
+    "Pick and shake the the medium bottle with the left arm.",
+    "Use the left arm to pick the bottle with printed label.",
+    "Pick up the bottle with printed label and shake it.",
+    "Use the left arm to grab the bottle with rounded edges and shake.",
+    "Shake the bottle with rounded edges after picking it with the left arm.",
+    "Grab the bottle with printed label and give it a shake.",
+    "Grab the medium bottle, shake it properly, then set it down.",
+    "Pick up the bottle with printed label and shake it.",
+    "Pick up the bottle with rounded edges with the left arm and shake.",
+    "Grab the medium bottle and shake it.",
+    "Pick and shake the the bottle with rounded edges with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005178.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005178.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8f1cf27881bdd0a6ef18e3d5217eb833564d3a1
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005178.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the dark brown bottle with a squared body firmly after grabbing.",
+    "Lift the rectangular brown body with white top with the left arm and give it a shake.",
+    "Pick the medium-sized brown plastic bottle up with the left arm and shake.",
+    "Pick the medium-sized brown plastic bottle, shake it with the left arm.",
+    "Grab the brown bottle with the left arm and shake.",
+    "Shake the medium-sized brown plastic bottle after holding it firmly.",
+    "Pick the bottle with green cap and perform shaking motion.",
+    "Take the rectangular-shaped bottle with round cap using the left arm and give it a shake.",
+    "Shake the bottle with flat sides and logo thoroughly after grabbing it.",
+    "Hold the smooth plastic bottle with white cap steady, then shake it.",
+    "Hold the bottle with green cap, shake it briefly.",
+    "Use the left arm to lift and shake the bottle with flat sides and logo.",
+    "Use the left arm to hold the bottle with green cap and shake it.",
+    "Lift the bottle with flat sides and logo and shake it thoroughly.",
+    "Grab the dark brown bottle with a squared body carefully and shake.",
+    "Grab the bottle with flat sides and logo and give it a shake.",
+    "Grasp the medium bottle with glossy surface with the left arm and shake it.",
+    "Hold the rectangular brown body with white top and shake it properly.",
+    "Using the left arm, shake the plastic bottle and then place it back.",
+    "Shake the the rectangular brown body with white top properly after lifting.",
+    "Pick the plastic bottle up using the left arm and shake it.",
+    "Shake the bottle with flat sides and logo using the left arm after grabbing.",
+    "Use the left arm to lift and shake the rectangular brown body with white top.",
+    "Shake the smooth plastic bottle with white cap after grabbing it.",
+    "Use the left arm to pick and shake the brown bottle.",
+    "Hold the bottle with flat sides and logo with the left arm and shake lightly.",
+    "Shake the dark brown bottle with a squared body after grabbing it.",
+    "Use the left arm to grab the bottle with green cap and shake properly.",
+    "Use the left arm to grab the plastic bottle and shake it.",
+    "Grab the smooth brown bottle with green label using the left arm, then shake.",
+    "Pick up the brown bottle with rounded rectangular shape and shake it.",
+    "Grip the dark brown bottle with a squared body using the left arm and shake.",
+    "Grab the smooth brown bottle with green label and shake it steadily.",
+    "Lift the smooth brown bottle with green label and shake it gently.",
+    "Pick up the bottle with green cap and shake it well.",
+    "Secure the bottle with flat sides and logo and perform a shake.",
+    "Grab the rectangular-shaped bottle with round cap firmly, shake it, and put it down.",
+    "Use the left arm to lift and shake the rectangular-shaped bottle with round cap.",
+    "Lift up the bottle with flat sides and logo using the left arm, then shake.",
+    "Grab and shake the brown bottle with rounded rectangular shape using the left arm.",
+    "Shake the bottle with green cap after grabbing it.",
+    "Secure the bottle with green cap, shake it, and place it down.",
+    "Hold and shake the the smooth brown bottle with green label carefully.",
+    "Catch the smooth plastic bottle with white cap and shake it instantly.",
+    "Shake the smooth plastic bottle with white cap after lifting it.",
+    "Lift the rectangular-shaped bottle with round cap with the left arm and shake it.",
+    "Grab the rectangular brown body with white top and move it to shake.",
+    "With the left arm, pick the smooth plastic bottle with white cap and shake properly.",
+    "Lift the dark brown bottle with a squared body with the left arm and shake.",
+    "Utilize the left arm to hold the bottle with flat sides and logo and shake it.",
+    "Shake the brown bottle firmly after grabbing.",
+    "Lift the medium bottle with glossy surface with the left arm and give it a shake.",
+    "Pick the rectangular-shaped bottle with round cap up with the left arm and shake.",
+    "Pick the smooth brown bottle with green label, shake it with the left arm.",
+    "Grab the smooth plastic bottle with white cap with the left arm and shake.",
+    "Shake the smooth brown bottle with green label after holding it firmly.",
+    "Pick the rectangular-shaped bottle with round cap and perform shaking motion.",
+    "Take the bottle with green cap using the left arm and give it a shake.",
+    "Shake the medium bottle with glossy surface thoroughly after grabbing it.",
+    "Hold the bottle with flat sides and logo steady, then shake it.",
+    "Hold the smooth plastic bottle with white cap, shake it briefly.",
+    "Use the left arm to lift and shake the dark brown bottle with a squared body.",
+    "Use the left arm to hold the bottle with flat sides and logo and shake it.",
+    "Lift the medium bottle with glossy surface and shake it thoroughly.",
+    "Grab the smooth plastic bottle with white cap carefully and shake.",
+    "Grab the medium-sized brown plastic bottle and give it a shake.",
+    "Grasp the bottle with flat sides and logo with the left arm and shake it.",
+    "Hold the bottle with flat sides and logo and shake it properly.",
+    "Using the left arm, shake the bottle with flat sides and logo and then place it back.",
+    "Shake the the dark brown bottle with a squared body properly after lifting.",
+    "Pick the smooth brown bottle with green label up using the left arm and shake it.",
+    "Shake the dark brown bottle with a squared body using the left arm after grabbing.",
+    "Use the left arm to lift and shake the medium bottle with glossy surface.",
+    "Shake the brown bottle with rounded rectangular shape after grabbing it.",
+    "Use the left arm to pick and shake the rectangular brown body with white top.",
+    "Hold the smooth brown bottle with green label with the left arm and shake lightly.",
+    "Shake the smooth brown bottle with green label after grabbing it.",
+    "Use the left arm to grab the bottle with flat sides and logo and shake properly.",
+    "Use the left arm to grab the smooth brown bottle with green label and shake it.",
+    "Grab the rectangular brown body with white top using the left arm, then shake.",
+    "Pick up the smooth plastic bottle with white cap and shake it.",
+    "Grip the dark brown bottle with a squared body using the left arm and shake.",
+    "Grab the brown bottle with rounded rectangular shape and shake it steadily.",
+    "Lift the rectangular-shaped bottle with round cap and shake it gently.",
+    "Pick up the medium-sized brown plastic bottle and shake it well.",
+    "Secure the medium-sized brown plastic bottle and perform a shake.",
+    "Grab the brown bottle with rounded rectangular shape firmly, shake it, and put it down.",
+    "Use the left arm to lift and shake the dark brown bottle with a squared body.",
+    "Lift up the smooth brown bottle with green label using the left arm, then shake.",
+    "Grab and shake the medium bottle with glossy surface using the left arm.",
+    "Shake the bottle with green cap after grabbing it.",
+    "Secure the dark brown bottle with a squared body, shake it, and place it down.",
+    "Hold and shake the the rectangular brown body with white top carefully.",
+    "Catch the smooth brown bottle with green label and shake it instantly.",
+    "Shake the plastic bottle after lifting it.",
+    "Lift the plastic bottle with the left arm and shake it.",
+    "Grab the brown bottle and move it to shake.",
+    "With the left arm, pick the smooth brown bottle with green label and shake properly.",
+    "Lift the smooth plastic bottle with white cap with the left arm and shake.",
+    "Utilize the left arm to hold the plastic bottle and shake it."
+  ],
+  "unseen": [
+    "Pick and shake the the liquid container dark brown plastic with the left arm.",
+    "Use the left arm to pick the medium-sized plastic bottle with capped top.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Grab the bottle with green label and white lid and give it a shake.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Shake the liquid container dark brown plastic after picking it with the left arm.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.",
+    "Use the left arm to pick the liquid container dark brown plastic.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "Grab the 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 left arm to grab the bottle with green label and white lid and shake.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.",
+    "Use the left arm to pick the liquid container dark brown plastic.",
+    "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.",
+    "Grab the 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 left arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Shake the bottle with green label and white lid after picking it with the left arm.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Pick up the bottle with green label and white lid with the left arm and shake.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.",
+    "Use the left arm to pick the medium-sized plastic bottle with capped top.",
+    "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.",
+    "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 left arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.",
+    "Grab the bottle with green label and white lid and shake it.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Pick up the bottle with green label and white lid with the left arm and shake.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.",
+    "Use the left arm to pick the liquid container dark brown plastic.",
+    "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.",
+    "Grab the bottle with green label and white lid and give it a shake.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Shake the medium-sized plastic bottle with capped top after picking it with the left arm.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.",
+    "Pick and shake the the bottle with green label and white lid with the left arm.",
+    "Use the left arm to pick the medium-sized plastic bottle with capped top.",
+    "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.",
+    "Grab the bottle with green label and white lid and give it a shake.",
+    "Pick up the bottle with green label and white lid and shake it.",
+    "Use the left arm to grab the liquid container dark brown plastic and shake.",
+    "Shake the liquid container dark brown plastic after picking it with the left arm.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the liquid container dark brown plastic with the left arm and shake.",
+    "Pick and shake the the liquid container dark brown plastic with the left arm.",
+    "Use the left arm to pick the medium-sized plastic bottle with capped top.",
+    "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.",
+    "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 left arm to grab the bottle with green label and white lid and shake.",
+    "Shake the bottle with green label and white lid after picking it with the left arm.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the bottle with green label and white lid with the left arm and shake.",
+    "Pick and shake the the liquid container dark brown plastic with the left arm.",
+    "Use the left arm to pick the medium-sized plastic bottle with capped top.",
+    "Grab the liquid container dark brown plastic, shake it properly, then set it down.",
+    "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 left arm to grab the liquid container dark brown plastic and shake.",
+    "Shake the liquid container dark brown plastic after picking it with the left arm.",
+    "Grab the liquid container dark brown plastic and shake it.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Pick up the medium-sized plastic bottle with capped top with the left arm and shake.",
+    "Pick and shake the the medium-sized plastic bottle with capped top with the left arm.",
+    "Use the left arm to pick the bottle with green label and white lid.",
+    "Grab the bottle with green label and white lid, shake it properly, then set it down.",
+    "Grab the bottle with green label and white lid and give it a shake.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Use the left arm to grab the medium-sized plastic bottle with capped top and shake.",
+    "Shake the bottle with green label and white lid after picking it with the left arm.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Pick up the bottle with green label and white lid with the left arm and shake.",
+    "Pick and shake the the liquid container dark brown plastic with the left arm.",
+    "Use the left arm to pick the liquid container dark brown plastic.",
+    "Grab the medium-sized plastic bottle with capped top, shake it properly, then set it down.",
+    "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 left arm to grab the bottle with green label and white lid and shake.",
+    "Shake the bottle with green label and white lid after picking it with the left arm.",
+    "Grab the medium-sized plastic bottle with capped top and shake it.",
+    "Pick up the liquid container dark brown plastic and shake it.",
+    "Pick up the bottle with green label and white lid with the left arm and shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005215.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005215.json
new file mode 100644
index 0000000000000000000000000000000000000000..871117e690e4d42af9faab6a2345ed6a111b9a8d
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005215.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the left arm, shake the handheld brown bottle with white lid and then place it back.",
+    "Pick the bottle with dark brown color and perform shaking motion.",
+    "Catch the bottle with white cap and shake it instantly.",
+    "Use the left arm to lift and shake the bottle with white cap.",
+    "Take the cylindrical bottle with narrow neck using the left arm and give it a shake.",
+    "Lift the plastic bottle for liquids with the left arm and shake.",
+    "Grab the cylindrical bottle with narrow neck carefully and shake.",
+    "Pick up the medium plastic bottle and shake it.",
+    "Hold and shake the the plastic bottle for liquids carefully.",
+    "Hold the medium bottle with smooth texture, shake it briefly.",
+    "Pick up the plastic bottle with printed label and shake it well.",
+    "Lift up the white-capped brown cylindrical bottle using the left arm, then shake.",
+    "Grab the plastic bottle for liquids firmly, shake it, and put it down.",
+    "Hold the bottle with dark brown color steady, then shake it.",
+    "Shake the bottle with brown body and white top after grabbing it.",
+    "Lift the white-capped brown cylindrical bottle and shake it gently.",
+    "Shake the bottle with white cap thoroughly after grabbing it.",
+    "Secure the handheld brown bottle with white lid, shake it, and place it down.",
+    "Hold the bottle with brown body and white top and shake it properly.",
+    "Grip the medium plastic bottle using the left arm and shake.",
+    "Lift the bottle with brown body and white top with the left arm and shake it.",
+    "Hold the bottle with white cap with the left arm and shake lightly.",
+    "Shake the bottle with brown body and white top using the left arm after grabbing.",
+    "Grab the medium plastic bottle with the left arm and shake.",
+    "Shake the plastic bottle for liquids after grabbing it.",
+    "Grasp the medium bottle with smooth texture with the left arm and shake it.",
+    "Use the left arm to grab the plastic bottle with printed label and shake it.",
+    "Shake the plastic bottle for liquids after lifting it.",
+    "Use the left arm to hold the smooth brown bottle and shake it.",
+    "Shake the handheld brown bottle with white lid firmly after grabbing.",
+    "Grab the rounded bottle with printed details and shake it steadily.",
+    "Pick the plastic bottle for liquids, shake it with the left arm.",
+    "Use the left arm to grab the plastic bottle for liquids and shake properly.",
+    "Use the left arm to pick and shake the rounded bottle with printed details.",
+    "Lift the smooth brown bottle with the left arm and give it a shake.",
+    "Pick the white-capped brown cylindrical bottle up with the left arm and shake.",
+    "Utilize the left arm to hold the plastic bottle with printed label and shake it.",
+    "With the left arm, pick the cylindrical bottle with narrow neck and shake properly.",
+    "Secure the bottle with dark brown color and perform a shake.",
+    "Grab the rounded bottle with printed details and give it a shake.",
+    "Shake the medium plastic bottle after grabbing it.",
+    "Shake the bottle with white cap after holding it firmly.",
+    "Lift the bottle with dark brown color and shake it thoroughly.",
+    "Grab the handheld brown bottle with white lid and move it to shake.",
+    "Use the left arm to lift and shake the rounded bottle with printed details.",
+    "Shake the the rounded bottle with printed details properly after lifting.",
+    "Use the left arm to lift and shake the medium bottle with smooth texture.",
+    "Grab the smooth brown bottle using the left arm, then shake.",
+    "Grab and shake the handheld brown bottle with white lid using the left arm.",
+    "Pick the plastic bottle with printed label up using the left arm and shake it.",
+    "Using the left arm, shake the rounded bottle with printed details and then place it back.",
+    "Pick the handheld brown bottle with white lid and perform shaking motion.",
+    "Catch the medium plastic bottle and shake it instantly.",
+    "Use the left arm to lift and shake the bottle with white cap.",
+    "Take the handheld brown bottle with white lid using the left arm and give it a shake.",
+    "Lift the smooth brown bottle with the left arm and shake.",
+    "Grab the white-capped brown cylindrical bottle carefully and shake.",
+    "Pick up the handheld brown bottle with white lid and shake it.",
+    "Hold and shake the the plastic bottle for liquids carefully.",
+    "Hold the rounded bottle with printed details, shake it briefly.",
+    "Pick up the bottle with white cap and shake it well.",
+    "Lift up the rounded bottle with printed details using the left arm, then shake.",
+    "Grab the medium bottle with smooth texture firmly, shake it, and put it down.",
+    "Hold the medium plastic bottle steady, then shake it.",
+    "Shake the handheld brown bottle with white lid after grabbing it.",
+    "Lift the smooth brown bottle and shake it gently.",
+    "Shake the white-capped brown cylindrical bottle thoroughly after grabbing it.",
+    "Secure the smooth brown bottle, shake it, and place it down.",
+    "Hold the medium plastic bottle and shake it properly.",
+    "Grip the handheld brown bottle with white lid using the left arm and shake.",
+    "Lift the smooth brown bottle with the left arm and shake it.",
+    "Hold the bottle with white cap with the left arm and shake lightly.",
+    "Shake the handheld brown bottle with white lid using the left arm after grabbing.",
+    "Grab the cylindrical bottle with narrow neck with the left arm and shake.",
+    "Shake the white-capped brown cylindrical bottle after grabbing it.",
+    "Grasp the cylindrical bottle with narrow neck with the left arm and shake it.",
+    "Use the left arm to grab the bottle with dark brown color and shake it.",
+    "Shake the bottle with brown body and white top after lifting it.",
+    "Use the left arm to hold the medium bottle with smooth texture and shake it.",
+    "Shake the bottle with brown body and white top firmly after grabbing.",
+    "Grab the bottle with white cap and shake it steadily.",
+    "Pick the rounded bottle with printed details, shake it with the left arm.",
+    "Use the left arm to grab the medium plastic bottle and shake properly.",
+    "Use the left arm to pick and shake the bottle with dark brown color.",
+    "Lift the plastic bottle with printed label with the left arm and give it a shake.",
+    "Pick the smooth brown bottle up with the left arm and shake.",
+    "Utilize the left arm to hold the white-capped brown cylindrical bottle and shake it.",
+    "With the left arm, pick the medium bottle with smooth texture and shake properly.",
+    "Secure the rounded bottle with printed details and perform a shake.",
+    "Grab the plastic bottle for liquids and give it a shake.",
+    "Shake the medium plastic bottle after grabbing it.",
+    "Shake the white-capped brown cylindrical bottle after holding it firmly.",
+    "Lift the handheld brown bottle with white lid and shake it thoroughly.",
+    "Grab the medium plastic bottle and move it to shake.",
+    "Use the left arm to lift and shake the white-capped brown cylindrical bottle.",
+    "Shake the the cylindrical bottle with narrow neck properly after lifting.",
+    "Use the left arm to lift and shake the white-capped brown cylindrical bottle.",
+    "Grab the medium plastic bottle using the left arm, then shake.",
+    "Grab and shake the smooth brown bottle using the left arm.",
+    "Pick the plastic bottle with printed label up using the left arm and shake it."
+  ],
+  "unseen": [
+    "Grab the brown bottle and shake it.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Shake the lightweight plastic brown bottle after picking it with the left arm.",
+    "Pick and shake the the lightweight plastic brown bottle with the left arm.",
+    "Pick up the lightweight plastic brown bottle with the left arm and shake.",
+    "Use the left arm to grab the lightweight plastic brown bottle and shake.",
+    "Use the left arm to pick the lightweight plastic brown bottle.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Shake the brown cylindrical bottle with label after picking it with the left arm.",
+    "Pick and shake the the brown cylindrical bottle with label with the left arm.",
+    "Pick up the lightweight plastic brown bottle with the left arm and shake.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Use the left arm to pick the brown bottle.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Shake the brown cylindrical bottle with label after picking it with the left arm.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Pick up the brown cylindrical bottle with label with the left arm and shake.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Use the left arm to pick the brown cylindrical bottle with label.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the brown bottle and shake it.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Shake the lightweight plastic brown bottle after picking it with the left arm.",
+    "Pick and shake the the brown cylindrical bottle with label with the left arm.",
+    "Pick up the lightweight plastic brown bottle with the left arm and shake.",
+    "Use the left arm to grab the brown cylindrical bottle with label and shake.",
+    "Use the left arm to pick the brown bottle.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Grab the brown bottle and shake it.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Shake the brown cylindrical bottle with label after picking it with the left arm.",
+    "Pick and shake the the brown cylindrical bottle with label with the left arm.",
+    "Pick up the brown cylindrical bottle with label with the left arm and shake.",
+    "Use the left arm to grab the brown cylindrical bottle with label and shake.",
+    "Use the left arm to pick the brown cylindrical bottle with label.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the brown bottle and shake it.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Shake the brown cylindrical bottle with label after picking it with the left arm.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Pick up the lightweight plastic brown bottle with the left arm and shake.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Use the left arm to pick the brown bottle.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the brown bottle and shake it.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Shake the brown bottle after picking it with the left arm.",
+    "Pick and shake the the lightweight plastic brown bottle with the left arm.",
+    "Pick up the brown bottle with the left arm and shake.",
+    "Use the left arm to grab the lightweight plastic brown bottle and shake.",
+    "Use the left arm to pick the brown cylindrical bottle with label.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the brown bottle and shake it.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Shake the lightweight plastic brown bottle after picking it with the left arm.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Pick up the brown bottle with the left arm and shake.",
+    "Use the left arm to grab the brown cylindrical bottle with label and shake.",
+    "Use the left arm to pick the brown cylindrical bottle with label.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Grab the brown bottle and shake it.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Shake the brown cylindrical bottle with label after picking it with the left arm.",
+    "Pick and shake the the lightweight plastic brown bottle with the left arm.",
+    "Pick up the brown cylindrical bottle with label with the left arm and shake.",
+    "Use the left arm to grab the lightweight plastic brown bottle and shake.",
+    "Use the left arm to pick the lightweight plastic brown bottle.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Grab the brown bottle and shake it.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Shake the lightweight plastic brown bottle after picking it with the left arm.",
+    "Pick and shake the the lightweight plastic brown bottle with the left arm.",
+    "Pick up the brown cylindrical bottle with label with the left arm and shake.",
+    "Use the left arm to grab the lightweight plastic brown bottle and shake.",
+    "Use the left arm to pick the brown bottle.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the brown cylindrical bottle with label and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005261.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005261.json
new file mode 100644
index 0000000000000000000000000000000000000000..811b6cd1b26bf37fb856df62f48d1103c2c809b0
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005261.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the smooth brown bottle with the right arm and shake it.",
+    "Shake the medium bottle with smooth texture thoroughly after grabbing it.",
+    "Grab the bottle with white cap and shake it steadily.",
+    "Use the right arm to pick and shake the rounded bottle with printed details.",
+    "Grab the rounded bottle with printed details using the right arm, then shake.",
+    "Use the right arm to grab the medium bottle with smooth texture and shake properly.",
+    "Pick the plastic bottle with printed label up with the right arm and shake.",
+    "Shake the handheld brown bottle with white lid after holding it firmly.",
+    "Grip the bottle with brown body and white top using the right arm and shake.",
+    "Lift the bottle with brown body and white top with the right arm and give it a shake.",
+    "Pick up the plastic bottle for liquids and shake it well.",
+    "Grab the medium bottle with smooth texture firmly, shake it, and put it down.",
+    "Lift the handheld brown bottle with white lid and shake it gently.",
+    "Grab and shake the cylindrical bottle with narrow neck using the right arm.",
+    "Hold and shake the the medium plastic bottle carefully.",
+    "Take the medium bottle with smooth texture using the right arm and give it a shake.",
+    "Use the right arm to lift and shake the plastic bottle for liquids.",
+    "Pick the handheld brown bottle with white lid and perform shaking motion.",
+    "Grab the medium bottle with smooth texture with the right arm and shake.",
+    "Shake the white-capped brown cylindrical bottle after grabbing it.",
+    "Hold the bottle with brown body and white top steady, then shake it.",
+    "Secure the bottle with brown body and white top and perform a shake.",
+    "Use the right arm to grab the bottle with dark brown color and shake it.",
+    "Lift the bottle with brown body and white top and shake it thoroughly.",
+    "Grab the handheld brown bottle with white lid and move it to shake.",
+    "Use the right arm to hold the handheld brown bottle with white lid and shake it.",
+    "Lift the plastic bottle with printed label with the right arm and shake.",
+    "Use the right arm to lift and shake the medium bottle with smooth texture.",
+    "Shake the bottle with brown body and white top using the right arm after grabbing.",
+    "Hold the bottle with white cap, shake it briefly.",
+    "Use the right arm to lift and shake the handheld brown bottle with white lid.",
+    "Using the right arm, shake the smooth brown bottle and then place it back.",
+    "Utilize the right arm to hold the medium bottle with smooth texture and shake it.",
+    "Grab the bottle with brown body and white top carefully and shake.",
+    "Hold the handheld brown bottle with white lid and shake it properly.",
+    "With the right arm, pick the medium bottle with smooth texture and shake properly.",
+    "Lift up the handheld brown bottle with white lid using the right arm, then shake.",
+    "Shake the cylindrical bottle with narrow neck after lifting it.",
+    "Catch the plastic bottle for liquids and shake it instantly.",
+    "Hold the medium bottle with smooth texture with the right arm and shake lightly.",
+    "Shake the white-capped brown cylindrical bottle after grabbing it.",
+    "Pick the medium bottle with smooth texture up using the right arm and shake it.",
+    "Shake the the rounded bottle with printed details properly after lifting.",
+    "Shake the handheld brown bottle with white lid firmly after grabbing.",
+    "Secure the smooth brown bottle, shake it, and place it down.",
+    "Pick the rounded bottle with printed details, shake it with the right arm.",
+    "Shake the bottle with dark brown color after grabbing it.",
+    "Grasp the cylindrical bottle with narrow neck with the right arm and shake it.",
+    "Grab the smooth brown bottle and give it a shake.",
+    "Pick up the medium plastic bottle and shake it.",
+    "Lift the smooth brown bottle with the right arm and shake it.",
+    "Shake the bottle with brown body and white top thoroughly after grabbing it.",
+    "Grab the white-capped brown cylindrical bottle and shake it steadily.",
+    "Use the right arm to pick and shake the white-capped brown cylindrical bottle.",
+    "Grab the plastic bottle for liquids using the right arm, then shake.",
+    "Use the right arm to grab the cylindrical bottle with narrow neck and shake properly.",
+    "Pick the cylindrical bottle with narrow neck up with the right arm and shake.",
+    "Shake the rounded bottle with printed details after holding it firmly.",
+    "Grip the cylindrical bottle with narrow neck using the right arm and shake.",
+    "Lift the medium bottle with smooth texture with the right arm and give it a shake.",
+    "Pick up the medium plastic bottle and shake it well.",
+    "Grab the cylindrical bottle with narrow neck firmly, shake it, and put it down.",
+    "Lift the plastic bottle for liquids and shake it gently.",
+    "Grab and shake the bottle with brown body and white top using the right arm.",
+    "Hold and shake the the bottle with brown body and white top carefully.",
+    "Take the rounded bottle with printed details using the right arm and give it a shake.",
+    "Use the right arm to lift and shake the bottle with white cap.",
+    "Pick the cylindrical bottle with narrow neck and perform shaking motion.",
+    "Grab the medium bottle with smooth texture with the right arm and shake.",
+    "Shake the bottle with dark brown color after grabbing it.",
+    "Hold the handheld brown bottle with white lid steady, then shake it.",
+    "Secure the cylindrical bottle with narrow neck and perform a shake.",
+    "Use the right arm to grab the white-capped brown cylindrical bottle and shake it.",
+    "Lift the handheld brown bottle with white lid and shake it thoroughly.",
+    "Grab the medium bottle with smooth texture and move it to shake.",
+    "Use the right arm to hold the bottle with dark brown color and shake it.",
+    "Lift the bottle with brown body and white top with the right arm and shake.",
+    "Use the right arm to lift and shake the rounded bottle with printed details.",
+    "Shake the bottle with white cap using the right arm after grabbing.",
+    "Hold the plastic bottle with printed label, shake it briefly.",
+    "Use the right arm to lift and shake the bottle with brown body and white top.",
+    "Using the right arm, shake the medium bottle with smooth texture and then place it back.",
+    "Utilize the right arm to hold the cylindrical bottle with narrow neck and shake it.",
+    "Grab the white-capped brown cylindrical bottle carefully and shake.",
+    "Hold the medium bottle with smooth texture and shake it properly.",
+    "With the right arm, pick the plastic bottle for liquids and shake properly.",
+    "Lift up the smooth brown bottle using the right arm, then shake.",
+    "Shake the plastic bottle with printed label after lifting it.",
+    "Catch the rounded bottle with printed details and shake it instantly.",
+    "Hold the medium bottle with smooth texture with the right arm and shake lightly.",
+    "Shake the plastic bottle with printed label after grabbing it.",
+    "Pick the cylindrical bottle with narrow neck up using the right arm and shake it.",
+    "Shake the the white-capped brown cylindrical bottle properly after lifting.",
+    "Shake the cylindrical bottle with narrow neck firmly after grabbing.",
+    "Secure the medium bottle with smooth texture, shake it, and place it down.",
+    "Pick the bottle with white cap, shake it with the right arm.",
+    "Shake the plastic bottle for liquids after grabbing it.",
+    "Grasp the white-capped brown cylindrical bottle with the right arm and shake it.",
+    "Grab the bottle with brown body and white top and give it a shake.",
+    "Pick up the medium bottle with smooth texture and shake it."
+  ],
+  "unseen": [
+    "Grab the brown bottle and give it a shake.",
+    "Pick up the lightweight plastic brown bottle with the right arm and shake.",
+    "Use the right arm to grab the lightweight plastic brown bottle and shake.",
+    "Shake the lightweight plastic brown bottle after picking it with the right arm.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Use the right arm to pick the brown cylindrical bottle with label.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "Use the right arm to grab the lightweight plastic brown bottle and shake.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Grab the brown bottle and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Use the right arm to pick the brown cylindrical bottle with label.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Use the right arm to grab the lightweight plastic brown bottle and shake.",
+    "Shake the lightweight plastic brown bottle after picking it with the right arm.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick up the lightweight plastic brown bottle with the right arm and shake.",
+    "Use the right arm to grab the lightweight plastic brown bottle and shake.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "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 and shake it.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "Use the right arm to grab the lightweight plastic brown bottle and shake.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Grab the brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the brown bottle and shake it.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Shake the lightweight plastic brown bottle after picking it with the right arm.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "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 and shake it.",
+    "Use the right arm to pick the brown bottle.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Use the right arm to grab the lightweight plastic brown bottle and shake.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Pick and shake the the lightweight plastic brown bottle with the right arm.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick up the brown cylindrical bottle with label with the right arm and shake.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Shake the lightweight plastic brown bottle after picking it with the right arm.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "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 and shake it.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Use the right arm to grab the brown cylindrical bottle with label and shake.",
+    "Shake the brown cylindrical bottle with label after picking it with the right arm.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Use the right arm to pick the lightweight plastic brown bottle.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005295.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005295.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec482d8a0349b2c587103ed77693294da667bfec
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005295.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the smooth green plastic bottle using the left arm, then shake.",
+    "Utilize the left arm to hold the medium green bottle and shake it.",
+    "Pick the smooth green plastic bottle up using the left arm and shake it.",
+    "Grip the plastic bottle using the left arm and shake.",
+    "Hold the bottle with narrow top with the left arm and shake lightly.",
+    "Pick the bottle with ridges near base up with the left arm and shake.",
+    "Use the left arm to pick and shake the medium green bottle with capped neck.",
+    "Use the left arm to lift and shake the bottle with rounded neck.",
+    "Use the left arm to lift and shake the bottle with ridges near base.",
+    "Shake the smooth green bottle firmly after grabbing.",
+    "Shake the bottle with narrow top after grabbing it.",
+    "Hold the medium-sized green bottle and shake it properly.",
+    "Use the left arm to grab the medium green bottle and shake properly.",
+    "Using the left arm, shake the medium green bottle with capped neck and then place it back.",
+    "Lift the medium green bottle with capped neck and shake it gently.",
+    "Grab the bottle with rounded neck and shake it steadily.",
+    "Lift the medium-sized green bottle with the left arm and give it a shake.",
+    "Shake the bottle with white printed label after grabbing it.",
+    "Lift the plastic bottle and shake it thoroughly.",
+    "Shake the the medium green bottle with capped neck properly after lifting.",
+    "Shake the smooth green bottle thoroughly after grabbing it.",
+    "Shake the smooth green bottle after grabbing it.",
+    "Pick the handheld green bottle, shake it with the left arm.",
+    "Use the left arm to lift and shake the medium green bottle.",
+    "With the left arm, pick the smooth green plastic bottle and shake properly.",
+    "Hold and shake the the bottle with narrow top carefully.",
+    "Secure the bottle with narrow top, shake it, and place it down.",
+    "Shake the medium green bottle after holding it firmly.",
+    "Hold the smooth green bottle, shake it briefly.",
+    "Grab the smooth green bottle with the left arm and shake.",
+    "Pick up the handheld green bottle and shake it.",
+    "Shake the smooth green plastic bottle after lifting it.",
+    "Lift up the medium-sized green bottle using the left arm, then shake.",
+    "Hold the medium green bottle with capped neck steady, then shake it.",
+    "Grasp the smooth green plastic bottle with the left arm and shake it.",
+    "Shake the bottle with ridges near base using the left arm after grabbing.",
+    "Grab the bottle with white printed label and give it a shake.",
+    "Catch the smooth green plastic bottle and shake it instantly.",
+    "Grab the medium green bottle carefully and shake.",
+    "Lift the medium green bottle with capped neck with the left arm and shake.",
+    "Grab the green bottle with indented base and move it to shake.",
+    "Lift the medium green bottle with capped neck with the left arm and shake it.",
+    "Use the left arm to hold the medium green bottle and shake it.",
+    "Take the bottle with white printed label using the left arm and give it a shake.",
+    "Pick the bottle with ridges near base and perform shaking motion.",
+    "Use the left arm to grab the bottle with narrow top and shake it.",
+    "Secure the bottle with ridges near base and perform a shake.",
+    "Grab the smooth green plastic bottle firmly, shake it, and put it down.",
+    "Pick up the bottle with rounded neck and shake it well.",
+    "Grab and shake the bottle with narrow top using the left arm.",
+    "Grab the handheld green bottle using the left arm, then shake.",
+    "Utilize the left arm to hold the green bottle with indented base and shake it.",
+    "Pick the bottle with rounded neck up using the left arm and shake it.",
+    "Grip the bottle with narrow top using the left arm and shake.",
+    "Hold the medium green bottle with capped neck with the left arm and shake lightly.",
+    "Pick the handheld green bottle up with the left arm and shake.",
+    "Use the left arm to pick and shake the plastic bottle.",
+    "Use the left arm to lift and shake the handheld green bottle.",
+    "Use the left arm to lift and shake the medium-sized green bottle.",
+    "Shake the plastic bottle firmly after grabbing.",
+    "Shake the bottle with ridges near base after grabbing it.",
+    "Hold the green bottle with indented base and shake it properly.",
+    "Use the left arm to grab the plastic bottle and shake properly.",
+    "Using the left arm, shake the smooth green plastic bottle and then place it back.",
+    "Lift the bottle with narrow top and shake it gently.",
+    "Grab the bottle with rounded neck and shake it steadily.",
+    "Lift the smooth green plastic bottle with the left arm and give it a shake.",
+    "Shake the smooth green plastic bottle after grabbing it.",
+    "Lift the medium-sized green bottle and shake it thoroughly.",
+    "Shake the the green bottle with indented base properly after lifting.",
+    "Shake the medium-sized green bottle thoroughly after grabbing it.",
+    "Shake the bottle with narrow top after grabbing it.",
+    "Pick the bottle with narrow top, shake it with the left arm.",
+    "Use the left arm to lift and shake the plastic bottle.",
+    "With the left arm, pick the medium-sized green bottle and shake properly.",
+    "Hold and shake the the bottle with white printed label carefully.",
+    "Secure the bottle with narrow top, shake it, and place it down.",
+    "Shake the smooth green plastic bottle after holding it firmly.",
+    "Hold the medium green bottle with capped neck, shake it briefly.",
+    "Grab the medium green bottle with the left arm and shake.",
+    "Pick up the bottle with rounded neck and shake it.",
+    "Shake the smooth green bottle after lifting it.",
+    "Lift up the medium green bottle with capped neck using the left arm, then shake.",
+    "Hold the plastic bottle steady, then shake it.",
+    "Grasp the bottle with white printed label with the left arm and shake it.",
+    "Shake the plastic bottle using the left arm after grabbing.",
+    "Grab the medium-sized green bottle and give it a shake.",
+    "Catch the plastic bottle and shake it instantly.",
+    "Grab the medium green bottle carefully and shake.",
+    "Lift the medium green bottle with the left arm and shake.",
+    "Grab the bottle with white printed label and move it to shake.",
+    "Lift the handheld green bottle with the left arm and shake it.",
+    "Use the left arm to hold the smooth green bottle and shake it.",
+    "Take the plastic bottle using the left arm and give it a shake.",
+    "Pick the bottle with rounded neck and perform shaking motion.",
+    "Use the left arm to grab the medium green bottle and shake it.",
+    "Secure the bottle with narrow top and perform a shake.",
+    "Grab the bottle with rounded neck firmly, shake it, and put it down.",
+    "Pick up the bottle with ridges near base and shake it well.",
+    "Grab and shake the smooth green plastic bottle using the left arm."
+  ],
+  "unseen": [
+    "Use the left arm to pick the green bottle with white label.",
+    "Shake the green bottle with white label after picking it with the left arm.",
+    "Pick up the green bottle with the left arm and shake.",
+    "Grab the green bottle with white label and give it a shake.",
+    "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.",
+    "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Grab the green bottle and shake it.",
+    "Use the left arm to grab the green bottle and shake.",
+    "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 bottle with the left arm and shake.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "Pick and shake the the green bottle with the left arm.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green bottle with white label, shake it properly, then set it down.",
+    "Grab the green bottle with white label and shake it.",
+    "Use the left arm to grab the green bottle with white label and shake.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Use the left arm to pick the green bottle.",
+    "Shake the green bottle with white label after picking it with the left arm.",
+    "Pick up the green plastic bottle with ridged bottom with the left arm and shake.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Pick and shake the the green bottle with white label with the left arm.",
+    "Pick up the green bottle with white label and shake it.",
+    "Grab the green bottle with white label, shake it properly, then set it down.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Use the left arm to grab the green bottle and shake.",
+    "Pick up the green bottle 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 with the left arm and shake.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the left arm.",
+    "Pick up the green bottle with white label and shake it.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Grab the green bottle and shake it.",
+    "Use the left arm to grab the green bottle and shake.",
+    "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 bottle with the left arm and shake.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the left arm.",
+    "Pick up the green bottle with white label and shake it.",
+    "Grab the green bottle with white label, shake it properly, then set it down.",
+    "Grab the green bottle and shake it.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Use the left arm to pick the green bottle with white label.",
+    "Shake the green bottle after picking it with the left arm.",
+    "Pick up the green bottle with white label with the left arm and shake.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the left arm.",
+    "Pick up the green bottle and shake it.",
+    "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Grab the green bottle and shake it.",
+    "Use the left arm to grab the green bottle and shake.",
+    "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 after picking it with the left arm.",
+    "Pick up the green bottle with white label with the left arm and shake.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Pick and shake the the green bottle with white label with the left arm.",
+    "Pick up the green bottle and shake it.",
+    "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Use the left arm to grab the green bottle and shake.",
+    "Pick up the green bottle 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 bottle with white label with the left arm and shake.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "Pick and shake the the green bottle with white label with the left arm.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Grab 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 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 after picking it with the left arm.",
+    "Pick up the green bottle with the left arm and shake.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "Pick and shake the the green bottle with white label with the left arm.",
+    "Pick up the green bottle with white label and shake it.",
+    "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Use the left arm to grab the green bottle and shake.",
+    "Pick up the green bottle and shake it.",
+    "Use the left arm to pick the green plastic bottle with ridged bottom.",
+    "Shake the green bottle with white label after picking it with the left arm.",
+    "Pick up the green bottle with the left arm and shake.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "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.",
+    "Grab the green bottle with white label, shake it properly, then set it down.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Use the left arm to grab the green bottle and shake.",
+    "Pick up the green bottle and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005315.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005315.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cb182e8a8bcfbddfd4fd5e05bd79a8d12efea89
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005315.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the right arm, pick the bottle with yellow cap and shake properly.",
+    "Grab the bottle with narrow neck and move it to shake.",
+    "Grab and shake the cylindrical orange bottle with yellow top using the right arm.",
+    "Grip the bottle with narrow neck using the right arm and shake.",
+    "Use the right arm to grab the bottle for liquids and shake it.",
+    "Use the right arm to lift and shake the smooth plastic bottle.",
+    "Shake the the orange cylindrical bottle properly after lifting.",
+    "Hold the bottle with yellow cap, shake it briefly.",
+    "Take the orange cylindrical bottle using the right arm and give it a shake.",
+    "Hold and shake the the medium-sized orange bottle carefully.",
+    "Pick the yellow-capped plastic bottle up using the right arm and shake it.",
+    "Lift the plastic bottle and shake it gently.",
+    "Shake the smooth plastic bottle after holding it firmly.",
+    "Pick up the bottle with printed label and shake it well.",
+    "Catch the yellow-capped plastic bottle and shake it instantly.",
+    "Shake the bottle with narrow neck thoroughly after grabbing it.",
+    "Pick the bottle for liquids up with the right arm and shake.",
+    "Secure the plastic bottle, shake it, and place it down.",
+    "Use the right arm to pick and shake the yellow-capped plastic bottle.",
+    "Lift the orange bottle with the right arm and shake it.",
+    "Shake the medium-sized orange bottle after grabbing it.",
+    "Hold the orange cylindrical bottle with the right arm and shake lightly.",
+    "Pick the bottle with printed label, shake it with the right arm.",
+    "Shake the orange cylindrical bottle after grabbing it.",
+    "Use the right arm to hold the bottle with printed label and shake it.",
+    "Lift up the bottle for liquids using the right arm, then shake.",
+    "Shake the medium-sized orange bottle after grabbing it.",
+    "Lift the yellow-capped plastic bottle with the right arm and shake.",
+    "Shake the smooth plastic bottle after lifting it.",
+    "Utilize the right arm to hold the bottle for liquids and shake it.",
+    "Pick the bottle with yellow cap and perform shaking motion.",
+    "Grab the bottle for liquids and shake it steadily.",
+    "Pick up the plastic bottle and shake it.",
+    "Lift the orange cylindrical bottle with the right arm and give it a shake.",
+    "Shake the plastic bottle using the right arm after grabbing.",
+    "Using the right arm, shake the orange cylindrical bottle and then place it back.",
+    "Hold the orange bottle steady, then shake it.",
+    "Grasp the yellow-capped plastic bottle with the right arm and shake it.",
+    "Use the right arm to grab the plastic bottle with sealed yellow cap and shake properly.",
+    "Grab the orange bottle carefully and shake.",
+    "Lift the orange cylindrical bottle and shake it thoroughly.",
+    "Grab the smooth plastic bottle with the right arm and shake.",
+    "Shake the bottle with narrow neck firmly after grabbing.",
+    "Grab the smooth plastic bottle firmly, shake it, and put it down.",
+    "Secure the orange cylindrical bottle and perform a shake.",
+    "Use the right arm to lift and shake the bottle with narrow neck.",
+    "Use the right arm to lift and shake the bottle with yellow cap.",
+    "Grab the yellow-capped plastic bottle and give it a shake.",
+    "Hold the cylindrical orange bottle with yellow top and shake it properly.",
+    "Grab the bottle with yellow cap using the right arm, then shake.",
+    "With the right arm, pick the bottle with narrow neck and shake properly.",
+    "Grab the bottle for liquids and move it to shake.",
+    "Grab and shake the medium-sized orange bottle using the right arm.",
+    "Grip the bottle with yellow cap using the right arm and shake.",
+    "Use the right arm to grab the orange bottle and shake it.",
+    "Use the right arm to lift and shake the orange cylindrical bottle.",
+    "Shake the the orange cylindrical bottle properly after lifting.",
+    "Hold the bottle for liquids, shake it briefly.",
+    "Take the bottle with printed label using the right arm and give it a shake.",
+    "Hold and shake the the bottle with narrow neck carefully.",
+    "Pick the medium-sized orange bottle up using the right arm and shake it.",
+    "Lift the orange cylindrical bottle and shake it gently.",
+    "Shake the bottle with narrow neck after holding it firmly.",
+    "Pick up the bottle with narrow neck and shake it well.",
+    "Catch the plastic bottle with sealed yellow cap and shake it instantly.",
+    "Shake the yellow-capped plastic bottle thoroughly after grabbing it.",
+    "Pick the bottle with narrow neck up with the right arm and shake.",
+    "Secure the orange bottle, shake it, and place it down.",
+    "Use the right arm to pick and shake the bottle with yellow cap.",
+    "Lift the medium-sized orange bottle with the right arm and shake it.",
+    "Shake the medium-sized orange bottle after grabbing it.",
+    "Hold the orange bottle with the right arm and shake lightly.",
+    "Pick the bottle with printed label, shake it with the right arm.",
+    "Shake the plastic bottle with sealed yellow cap after grabbing it.",
+    "Use the right arm to hold the plastic bottle and shake it.",
+    "Lift up the orange cylindrical bottle using the right arm, then shake.",
+    "Shake the orange bottle after grabbing it.",
+    "Lift the medium-sized orange bottle with the right arm and shake.",
+    "Shake the bottle for liquids after lifting it.",
+    "Utilize the right arm to hold the orange cylindrical bottle and shake it.",
+    "Pick the bottle with printed label and perform shaking motion.",
+    "Grab the bottle for liquids and shake it steadily.",
+    "Pick up the orange cylindrical bottle and shake it.",
+    "Lift the medium-sized orange bottle with the right arm and give it a shake.",
+    "Shake the orange bottle using the right arm after grabbing.",
+    "Using the right arm, shake the bottle with narrow neck and then place it back.",
+    "Hold the bottle for liquids steady, then shake it.",
+    "Grasp the bottle with printed label with the right arm and shake it.",
+    "Use the right arm to grab the orange bottle and shake properly.",
+    "Grab the bottle for liquids carefully and shake.",
+    "Lift the orange cylindrical bottle and shake it thoroughly.",
+    "Grab the yellow-capped plastic bottle with the right arm and shake.",
+    "Shake the smooth plastic bottle firmly after grabbing.",
+    "Grab the plastic bottle firmly, shake it, and put it down.",
+    "Secure the plastic bottle and perform a shake.",
+    "Use the right arm to lift and shake the orange bottle.",
+    "Use the right arm to lift and shake the orange bottle.",
+    "Grab the orange cylindrical bottle and give it a shake.",
+    "Hold the bottle with yellow cap and shake it properly.",
+    "Grab the orange bottle using the right arm, then shake."
+  ],
+  "unseen": [
+    "Pick and shake the the label-covered orange bottle with the right arm.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Use the right arm to grab the orange bottle with smooth texture and shake.",
+    "Grab the handheld orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Shake the label-covered orange bottle after picking it with the right arm.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Use the right arm to grab the label-covered orange bottle and shake.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Shake the orange bottle with smooth texture after picking it with the right arm.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Use the right arm to grab the orange bottle with smooth texture and shake.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Pick up the label-covered orange bottle with the right arm and shake.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Shake the label-covered orange bottle after picking it with the right arm.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Use the right arm to grab the label-covered orange bottle and shake.",
+    "Grab the handheld orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Shake the orange bottle with smooth texture after picking it with the right arm.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Use the right arm to grab the label-covered orange bottle and shake.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Pick up the label-covered orange bottle with the right arm and shake.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the right arm.",
+    "Shake the orange bottle with smooth texture after picking it with the right arm.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Use the right arm to grab the orange bottle with smooth texture and shake.",
+    "Grab the handheld orange bottle and shake it.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Pick up the label-covered orange bottle with the right arm and shake.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Use the right arm to grab the orange bottle with smooth texture and shake.",
+    "Grab the handheld orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake.",
+    "Use the right arm to pick the orange bottle with smooth texture.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Shake the orange bottle with smooth texture after picking it with the right arm.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Use the right arm to grab the label-covered orange bottle and shake.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Shake the orange bottle with smooth texture after picking it with the right arm.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Use the right arm to grab the label-covered orange bottle and shake.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick and shake the the label-covered orange bottle with the right arm.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Use the right arm to grab the orange bottle with smooth texture and shake.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick up the label-covered orange bottle and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005331.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005331.json
new file mode 100644
index 0000000000000000000000000000000000000000..95743e302f080770c4c5e33da2c87ebf917c8763
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005331.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the orange bottle and shake it steadily.",
+    "Pick the bottle with orange cap up using the right arm and shake it.",
+    "Use the right arm to grab the drinking bottle with yellow label and shake it.",
+    "Use the right arm to grab the drinking bottle with yellow label and shake properly.",
+    "Hold and shake the the bottle with ribbed orange bottom carefully.",
+    "Hold the cylindrical orange and white bottle, shake it briefly.",
+    "Utilize the right arm to hold the orange and white bottle with cap and shake it.",
+    "Pick up the plastic bottle and shake it well.",
+    "Shake the smooth plastic bottle using the right arm after grabbing.",
+    "Use the right arm to pick and shake the smooth plastic bottle.",
+    "Grab the white and orange plastic bottle carefully and shake.",
+    "Hold the yellow label bottle and shake it properly.",
+    "Catch the orange bottle and shake it instantly.",
+    "Using the right arm, shake the drinking bottle with yellow label and then place it back.",
+    "Hold the medium orange bottle steady, then shake it.",
+    "Shake the bottle with orange cap thoroughly after grabbing it.",
+    "Secure the bottle with ribbed orange bottom, shake it, and place it down.",
+    "Lift the cylindrical orange and white bottle with the right arm and shake it.",
+    "Use the right arm to lift and shake the drinking bottle with yellow label.",
+    "Secure the medium orange bottle and perform a shake.",
+    "Pick up the orange and white bottle with cap and shake it.",
+    "Grip the bottle with orange cap using the right arm and shake.",
+    "Shake the drinking bottle with yellow label after grabbing it.",
+    "Grab and shake the orange and white bottle with cap using the right arm.",
+    "Lift the bottle with orange cap and shake it gently.",
+    "Shake the cylindrical orange and white bottle after holding it firmly.",
+    "Pick the bottle with ribbed orange bottom and perform shaking motion.",
+    "Shake the orange and white bottle with cap after grabbing it.",
+    "Pick the smooth plastic bottle, shake it with the right arm.",
+    "Lift the orange and white bottle with cap and shake it thoroughly.",
+    "Grab the yellow label bottle and move it to shake.",
+    "Grasp the bottle with ribbed orange bottom with the right arm and shake it.",
+    "Grab the medium orange bottle with the right arm and shake.",
+    "Use the right arm to lift and shake the bottle with orange cap.",
+    "Lift the plastic bottle with the right arm and give it a shake.",
+    "Grab the cylindrical orange and white bottle and give it a shake.",
+    "Lift the white and orange plastic bottle with the right arm and shake.",
+    "Shake the the smooth plastic bottle properly after lifting.",
+    "Shake the bottle with ribbed orange bottom firmly after grabbing.",
+    "Hold the white and orange plastic bottle with the right arm and shake lightly.",
+    "Shake the white and orange plastic bottle after grabbing it.",
+    "With the right arm, pick the medium bottle with orange lid and shake properly.",
+    "Use the right arm to lift and shake the smooth plastic bottle.",
+    "Lift up the medium bottle with orange lid using the right arm, then shake.",
+    "Grab the white and orange plastic bottle using the right arm, then shake.",
+    "Shake the medium orange bottle after lifting it.",
+    "Pick the cylindrical orange and white bottle up with the right arm and shake.",
+    "Use the right arm to hold the bottle with orange cap and shake it.",
+    "Grab the white and orange plastic bottle firmly, shake it, and put it down.",
+    "Take the orange bottle using the right arm and give it a shake.",
+    "Grab the cylindrical orange and white bottle and shake it steadily.",
+    "Pick the cylindrical orange and white bottle up using the right arm and shake it.",
+    "Use the right arm to grab the bottle with orange cap and shake it.",
+    "Use the right arm to grab the medium bottle with orange lid and shake properly.",
+    "Hold and shake the the white and orange plastic bottle carefully.",
+    "Hold the white and orange plastic bottle, shake it briefly.",
+    "Utilize the right arm to hold the medium bottle with orange lid and shake it.",
+    "Pick up the bottle with orange cap and shake it well.",
+    "Shake the yellow label bottle using the right arm after grabbing.",
+    "Use the right arm to pick and shake the cylindrical orange and white bottle.",
+    "Grab the smooth plastic bottle carefully and shake.",
+    "Hold the cylindrical orange and white bottle and shake it properly.",
+    "Catch the drinking bottle with yellow label and shake it instantly.",
+    "Using the right arm, shake the medium orange bottle and then place it back.",
+    "Hold the plastic bottle steady, then shake it.",
+    "Shake the medium bottle with orange lid thoroughly after grabbing it.",
+    "Secure the medium orange bottle, shake it, and place it down.",
+    "Lift the smooth plastic bottle with the right arm and shake it.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Secure the bottle with orange cap and perform a shake.",
+    "Pick up the smooth plastic bottle and shake it.",
+    "Grip the cylindrical orange and white bottle using the right arm and shake.",
+    "Shake the drinking bottle with yellow label after grabbing it.",
+    "Grab and shake the orange bottle using the right arm.",
+    "Lift the plastic bottle and shake it gently.",
+    "Shake the orange and white bottle with cap after holding it firmly.",
+    "Pick the bottle with ribbed orange bottom and perform shaking motion.",
+    "Shake the cylindrical orange and white bottle after grabbing it.",
+    "Pick the medium bottle with orange lid, shake it with the right arm.",
+    "Lift the smooth plastic bottle and shake it thoroughly.",
+    "Grab the medium orange bottle and move it to shake.",
+    "Grasp the bottle with ribbed orange bottom with the right arm and shake it.",
+    "Grab the yellow label bottle with the right arm and shake.",
+    "Use the right arm to lift and shake the yellow label bottle.",
+    "Lift the smooth plastic bottle with the right arm and give it a shake.",
+    "Grab the cylindrical orange and white bottle and give it a shake.",
+    "Lift the medium bottle with orange lid with the right arm and shake.",
+    "Shake the the drinking bottle with yellow label properly after lifting.",
+    "Shake the smooth plastic bottle firmly after grabbing.",
+    "Hold the medium orange bottle with the right arm and shake lightly.",
+    "Shake the bottle with orange cap after grabbing it.",
+    "With the right arm, pick the bottle with ribbed orange bottom and shake properly.",
+    "Use the right arm to lift and shake the medium bottle with orange lid.",
+    "Lift up the white and orange plastic bottle using the right arm, then shake.",
+    "Grab the cylindrical orange and white bottle using the right arm, then shake.",
+    "Shake the orange bottle after lifting it.",
+    "Pick the orange bottle up with the right arm and shake.",
+    "Use the right arm to hold the white and orange plastic bottle and shake it.",
+    "Grab the smooth plastic bottle firmly, shake it, and put it down.",
+    "Take the plastic bottle using the right arm and give it a shake."
+  ],
+  "unseen": [
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick up the bottle with curved body and shake it.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Grab the bottle with curved body and shake it.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Grab the bottle with curved body and shake it.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Grab the bottle with curved body and shake it.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Grab the bottle with curved body and shake it.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick up the bottle with curved body and shake it.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Shake the bottle with curved body after picking it with the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005346.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005346.json
new file mode 100644
index 0000000000000000000000000000000000000000..c827cbac11da81f627e8e751e5bc00571568f455
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10005346.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to lift and shake the orange bottle.",
+    "Use the right arm to grab the plastic bottle and shake properly.",
+    "Grab and shake the ridged orange bottle with grooves using the right arm.",
+    "Pick up the orange drink bottle with label and shake it.",
+    "Hold the grooved orange drink bottle with the right arm and shake lightly.",
+    "Use the right arm to pick and shake the cylindrical orange plastic bottle.",
+    "Pick the orange bottle, shake it with the right arm.",
+    "Hold the orange bottle and shake it properly.",
+    "Grab the round-bottom bottle with white cap and give it a shake.",
+    "Shake the plastic bottle thoroughly after grabbing it.",
+    "Grab the round-bottom bottle with white cap carefully and shake.",
+    "Hold the medium bottle with colorful label, shake it briefly.",
+    "Lift the plastic bottle and shake it thoroughly.",
+    "Shake the cylindrical orange plastic bottle after grabbing it.",
+    "Secure the medium bottle with colorful label, shake it, and place it down.",
+    "Grab the orange bottle with the right arm and shake.",
+    "Hold and shake the the smooth orange bottle carefully.",
+    "Pick the orange bottle up with the right arm and shake.",
+    "Shake the bottle for holding drinks after holding it firmly.",
+    "Lift up the orange bottle using the right arm, then shake.",
+    "Use the right arm to hold the round-bottom bottle with white cap and shake it.",
+    "Grab the ridged orange bottle with grooves firmly, shake it, and put it down.",
+    "Grab the curved orange soda bottle and move it to shake.",
+    "Shake the light and medium-sized bottle after grabbing it.",
+    "Shake the grooved orange drink bottle after lifting it.",
+    "Lift the orange drink bottle with label with the right arm and shake.",
+    "Use the right arm to grab the ridged orange bottle with grooves and shake it.",
+    "Lift the bottle for holding drinks and shake it gently.",
+    "Secure the curved orange soda bottle and perform a shake.",
+    "Shake the orange drink bottle with label using the right arm after grabbing.",
+    "Use the right arm to lift and shake the grooved orange drink bottle.",
+    "Grasp the cylindrical orange plastic bottle with the right arm and shake it.",
+    "Hold the smooth orange bottle steady, then shake it.",
+    "Lift the cylindrical orange plastic bottle with the right arm and give it a shake.",
+    "Utilize the right arm to hold the cylindrical orange plastic bottle and shake it.",
+    "Grab the orange drink bottle with label and shake it steadily.",
+    "Lift the grooved orange drink bottle with the right arm and shake it.",
+    "With the right arm, pick the medium bottle with colorful label and shake properly.",
+    "Catch the smooth orange bottle and shake it instantly.",
+    "Grab the orange drink bottle with label using the right arm, then shake.",
+    "Use the right arm to lift and shake the light and medium-sized bottle.",
+    "Shake the smooth orange bottle firmly after grabbing.",
+    "Pick the curved orange soda bottle up using the right arm and shake it.",
+    "Take the plastic bottle using the right arm and give it a shake.",
+    "Using the right arm, shake the bottle for holding drinks and then place it back.",
+    "Pick up the bottle for holding drinks and shake it well.",
+    "Shake the round-bottom bottle with white cap after grabbing it.",
+    "Pick the curved orange soda bottle and perform shaking motion.",
+    "Grip the light and medium-sized bottle using the right arm and shake.",
+    "Shake the the orange drink bottle with label properly after lifting.",
+    "Use the right arm to lift and shake the orange drink bottle with label.",
+    "Use the right arm to grab the grooved orange drink bottle and shake properly.",
+    "Grab and shake the cylindrical orange plastic bottle using the right arm.",
+    "Pick up the curved orange soda bottle and shake it.",
+    "Hold the smooth orange bottle with the right arm and shake lightly.",
+    "Use the right arm to pick and shake the cylindrical orange plastic bottle.",
+    "Pick the cylindrical orange plastic bottle, shake it with the right arm.",
+    "Hold the orange bottle and shake it properly.",
+    "Grab the orange bottle and give it a shake.",
+    "Shake the cylindrical orange plastic bottle thoroughly after grabbing it.",
+    "Grab the curved orange soda bottle carefully and shake.",
+    "Hold the light and medium-sized bottle, shake it briefly.",
+    "Lift the cylindrical orange plastic bottle and shake it thoroughly.",
+    "Shake the plastic bottle after grabbing it.",
+    "Secure the light and medium-sized bottle, shake it, and place it down.",
+    "Grab the cylindrical orange plastic bottle with the right arm and shake.",
+    "Hold and shake the the orange bottle carefully.",
+    "Pick the orange drink bottle with label up with the right arm and shake.",
+    "Shake the bottle for holding drinks after holding it firmly.",
+    "Lift up the smooth orange bottle using the right arm, then shake.",
+    "Use the right arm to hold the orange bottle and shake it.",
+    "Grab the cylindrical orange plastic bottle firmly, shake it, and put it down.",
+    "Grab the light and medium-sized bottle and move it to shake.",
+    "Shake the round-bottom bottle with white cap after grabbing it.",
+    "Shake the ridged orange bottle with grooves after lifting it.",
+    "Lift the grooved orange drink bottle with the right arm and shake.",
+    "Use the right arm to grab the plastic bottle and shake it.",
+    "Lift the curved orange soda bottle and shake it gently.",
+    "Secure the light and medium-sized bottle and perform a shake.",
+    "Shake the medium bottle with colorful label using the right arm after grabbing.",
+    "Use the right arm to lift and shake the smooth orange bottle.",
+    "Grasp the cylindrical orange plastic bottle with the right arm and shake it.",
+    "Hold the orange bottle steady, then shake it.",
+    "Lift the cylindrical orange plastic bottle with the right arm and give it a shake.",
+    "Utilize the right arm to hold the round-bottom bottle with white cap and shake it.",
+    "Grab the ridged orange bottle with grooves and shake it steadily.",
+    "Lift the medium bottle with colorful label with the right arm and shake it.",
+    "With the right arm, pick the plastic bottle and shake properly.",
+    "Catch the orange bottle and shake it instantly.",
+    "Grab the ridged orange bottle with grooves using the right arm, then shake.",
+    "Use the right arm to lift and shake the light and medium-sized bottle.",
+    "Shake the round-bottom bottle with white cap firmly after grabbing.",
+    "Pick the plastic bottle up using the right arm and shake it.",
+    "Take the orange drink bottle with label using the right arm and give it a shake.",
+    "Using the right arm, shake the light and medium-sized bottle and then place it back.",
+    "Pick up the light and medium-sized bottle and shake it well.",
+    "Shake the ridged orange bottle with grooves after grabbing it.",
+    "Pick the curved orange soda bottle and perform shaking motion.",
+    "Grip the orange bottle using the right arm and shake.",
+    "Shake the the smooth orange bottle properly after lifting."
+  ],
+  "unseen": [
+    "Use the right arm to pick the bottle with white cap.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Use the right arm to grab the bottle with ridged orange grip and shake.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Pick and shake the the white capped orange plastic bottle with the right arm.",
+    "Shake the white capped orange plastic bottle after picking it with the right arm.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Pick up the white capped orange plastic bottle with the right arm and shake.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Use the right arm to grab the white capped orange plastic bottle and shake.",
+    "Pick up the bottle with white cap and shake it.",
+    "Pick and shake the the white capped orange plastic bottle with the right arm.",
+    "Shake the bottle with white cap after picking it with the right arm.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Pick up the bottle with white cap with the right arm and shake.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Use the right arm to grab the bottle with ridged orange grip and shake.",
+    "Pick up the bottle with white cap and shake it.",
+    "Pick and shake the the bottle with ridged orange grip with the right arm.",
+    "Shake the bottle with ridged orange grip after picking it with the right arm.",
+    "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.",
+    "Pick up the white capped orange plastic bottle with the right arm and shake.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Use the right arm to grab the bottle with ridged orange grip and shake.",
+    "Pick up the bottle with white cap and shake it.",
+    "Pick and shake the the bottle with white cap with the right arm.",
+    "Shake the white capped orange plastic bottle after picking it with the right arm.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Pick up the bottle with white cap with the right arm and shake.",
+    "Use the right arm to pick the bottle with ridged orange grip.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Use the right arm to grab the white capped orange plastic bottle and shake.",
+    "Pick up the bottle with white cap and shake it.",
+    "Pick and shake the the white capped orange plastic bottle with the right arm.",
+    "Shake the bottle with white cap after picking it with the right arm.",
+    "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.",
+    "Pick up the bottle with ridged orange grip with the right arm and shake.",
+    "Use the right arm to pick the bottle with ridged orange grip.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Use the right arm to grab the white capped orange plastic bottle and shake.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Pick and shake the the bottle with white cap with the right arm.",
+    "Shake the bottle with ridged orange grip after picking it with the right arm.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Pick up the white capped orange plastic bottle with the right arm and shake.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the bottle with white cap and shake it.",
+    "Use the right arm to grab the white capped orange plastic bottle and shake.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Pick and shake the the white capped orange plastic bottle with the right arm.",
+    "Shake the bottle with ridged orange grip after picking it with the right arm.",
+    "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.",
+    "Pick up the bottle with ridged orange grip with the right arm and shake.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Grab the bottle with white cap and shake it.",
+    "Use the right arm to grab the bottle with white cap and shake.",
+    "Pick up the bottle with white cap and shake it.",
+    "Pick and shake the the bottle with white cap with the right arm.",
+    "Shake the bottle with ridged orange grip after picking it with the right arm.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Pick up the white capped orange plastic bottle with the right arm and shake.",
+    "Use the right arm to pick the bottle with ridged orange grip.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Grab the bottle with white cap and shake it.",
+    "Use the right arm to grab the bottle with ridged orange grip and shake.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Pick and shake the the bottle with white cap with the right arm.",
+    "Shake the white capped orange plastic bottle after picking it with the right arm.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Pick up the white capped orange plastic bottle with the right arm and shake.",
+    "Use the right arm to pick the bottle with ridged orange grip.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Use the right arm to grab the bottle with ridged orange grip and shake.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Pick and shake the the white capped orange plastic bottle with the right arm.",
+    "Shake the bottle with ridged orange grip after picking it with the right arm.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Pick up the bottle with ridged orange grip with the right arm and shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006029.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006029.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1670dcd74a219b2108152c7732019fcdd81cb40
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006029.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the orange bottle after grabbing it.",
+    "Shake the grooved orange drink bottle firmly after grabbing.",
+    "Using the right arm, shake the cylindrical orange plastic bottle and then place it back.",
+    "Grip the bottle for holding drinks using the right arm and shake.",
+    "Use the right arm to hold the light and medium-sized bottle and shake it.",
+    "Shake the grooved orange drink bottle after holding it firmly.",
+    "Use the right arm to lift and shake the smooth orange bottle.",
+    "Pick the orange drink bottle with label up with the right arm and shake.",
+    "Grab the cylindrical orange plastic bottle using the right arm, then shake.",
+    "Secure the bottle for holding drinks, shake it, and place it down.",
+    "Lift the ridged orange bottle with grooves with the right arm and shake.",
+    "Hold the light and medium-sized bottle and shake it properly.",
+    "With the right arm, pick the light and medium-sized bottle and shake properly.",
+    "Grab the round-bottom bottle with white cap and move it to shake.",
+    "Grab the curved orange soda bottle firmly, shake it, and put it down.",
+    "Utilize the right arm to hold the light and medium-sized bottle and shake it.",
+    "Hold and shake the the cylindrical orange plastic bottle carefully.",
+    "Grab and shake the curved orange soda bottle using the right arm.",
+    "Shake the curved orange soda bottle thoroughly after grabbing it.",
+    "Secure the light and medium-sized bottle and perform a shake.",
+    "Lift the orange drink bottle with label with the right arm and shake it.",
+    "Grab the grooved orange drink bottle with the right arm and shake.",
+    "Use the right arm to grab the light and medium-sized bottle and shake properly.",
+    "Pick the cylindrical orange plastic bottle, shake it with the right arm.",
+    "Take the plastic bottle using the right arm and give it a shake.",
+    "Use the right arm to pick and shake the cylindrical orange plastic bottle.",
+    "Shake the round-bottom bottle with white cap using the right arm after grabbing.",
+    "Grab the cylindrical orange plastic bottle carefully and shake.",
+    "Lift the light and medium-sized bottle and shake it thoroughly.",
+    "Pick up the light and medium-sized bottle and shake it well.",
+    "Use the right arm to lift and shake the medium bottle with colorful label.",
+    "Shake the the smooth orange bottle properly after lifting.",
+    "Shake the ridged orange bottle with grooves after lifting it.",
+    "Shake the round-bottom bottle with white cap after grabbing it.",
+    "Grasp the orange drink bottle with label with the right arm and shake it.",
+    "Lift up the medium bottle with colorful label using the right arm, then shake.",
+    "Pick up the medium bottle with colorful label and shake it.",
+    "Grab the smooth orange bottle and give it a shake.",
+    "Use the right arm to grab the bottle for holding drinks and shake it.",
+    "Shake the cylindrical orange plastic bottle after grabbing it.",
+    "Hold the plastic bottle with the right arm and shake lightly.",
+    "Grab the orange drink bottle with label and shake it steadily.",
+    "Lift the light and medium-sized bottle with the right arm and give it a shake.",
+    "Use the right arm to lift and shake the bottle for holding drinks.",
+    "Catch the orange drink bottle with label and shake it instantly.",
+    "Hold the bottle for holding drinks, shake it briefly.",
+    "Hold the round-bottom bottle with white cap steady, then shake it.",
+    "Pick the medium bottle with colorful label and perform shaking motion.",
+    "Pick the bottle for holding drinks up using the right arm and shake it.",
+    "Lift the light and medium-sized bottle and shake it gently.",
+    "Shake the medium bottle with colorful label after grabbing it.",
+    "Shake the curved orange soda bottle firmly after grabbing.",
+    "Using the right arm, shake the grooved orange drink bottle and then place it back.",
+    "Grip the grooved orange drink bottle using the right arm and shake.",
+    "Use the right arm to hold the curved orange soda bottle and shake it.",
+    "Shake the round-bottom bottle with white cap after holding it firmly.",
+    "Use the right arm to lift and shake the cylindrical orange plastic bottle.",
+    "Pick the curved orange soda bottle up with the right arm and shake.",
+    "Grab the light and medium-sized bottle using the right arm, then shake.",
+    "Secure the grooved orange drink bottle, shake it, and place it down.",
+    "Lift the medium bottle with colorful label with the right arm and shake.",
+    "Hold the orange bottle and shake it properly.",
+    "With the right arm, pick the medium bottle with colorful label and shake properly.",
+    "Grab the bottle for holding drinks and move it to shake.",
+    "Grab the ridged orange bottle with grooves firmly, shake it, and put it down.",
+    "Utilize the right arm to hold the smooth orange bottle and shake it.",
+    "Hold and shake the the smooth orange bottle carefully.",
+    "Grab and shake the curved orange soda bottle using the right arm.",
+    "Shake the light and medium-sized bottle thoroughly after grabbing it.",
+    "Secure the round-bottom bottle with white cap and perform a shake.",
+    "Lift the cylindrical orange plastic bottle with the right arm and shake it.",
+    "Grab the smooth orange bottle with the right arm and shake.",
+    "Use the right arm to grab the orange drink bottle with label and shake properly.",
+    "Pick the smooth orange bottle, shake it with the right arm.",
+    "Take the orange drink bottle with label using the right arm and give it a shake.",
+    "Use the right arm to pick and shake the ridged orange bottle with grooves.",
+    "Shake the orange drink bottle with label using the right arm after grabbing.",
+    "Grab the medium bottle with colorful label carefully and shake.",
+    "Lift the orange drink bottle with label and shake it thoroughly.",
+    "Pick up the cylindrical orange plastic bottle and shake it well.",
+    "Use the right arm to lift and shake the grooved orange drink bottle.",
+    "Shake the the grooved orange drink bottle properly after lifting.",
+    "Shake the medium bottle with colorful label after lifting it.",
+    "Shake the cylindrical orange plastic bottle after grabbing it.",
+    "Grasp the medium bottle with colorful label with the right arm and shake it.",
+    "Lift up the bottle for holding drinks using the right arm, then shake.",
+    "Pick up the curved orange soda bottle and shake it.",
+    "Grab the round-bottom bottle with white cap and give it a shake.",
+    "Use the right arm to grab the bottle for holding drinks and shake it.",
+    "Shake the medium bottle with colorful label after grabbing it.",
+    "Hold the medium bottle with colorful label with the right arm and shake lightly.",
+    "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.",
+    "Use the right arm to lift and shake the light and medium-sized bottle.",
+    "Catch the grooved orange drink bottle and shake it instantly.",
+    "Hold the grooved orange drink bottle, shake it briefly.",
+    "Hold the orange bottle steady, then shake it.",
+    "Pick the bottle for holding drinks and perform shaking motion.",
+    "Pick the light and medium-sized bottle up using the right arm and shake it.",
+    "Lift the curved orange soda bottle and shake it gently."
+  ],
+  "unseen": [
+    "Pick up the bottle with white cap with the right arm and shake.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Use the right arm to pick the bottle with white cap.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Use the right arm to grab the bottle with white cap and shake.",
+    "Pick and shake the the bottle with white cap with the right arm.",
+    "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 up the bottle with ridged orange grip with the right arm and shake.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Use the right arm to pick the bottle with ridged orange grip.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Grab the bottle with white cap and shake it.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Use the right arm to grab the bottle with ridged orange grip and shake.",
+    "Pick and shake the the white capped orange plastic bottle with the right arm.",
+    "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 up the bottle with ridged orange grip with the right arm and shake.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Use the right arm to pick the bottle with ridged orange grip.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with white cap and shake it.",
+    "Use the right arm to grab the white capped orange plastic bottle and shake.",
+    "Pick and shake the the bottle with white cap with the right arm.",
+    "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 up the bottle with ridged orange grip with the right arm and shake.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Use the right arm to pick the bottle with white cap.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Grab the bottle with white cap and shake it.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Use the right arm to grab the bottle with ridged orange grip and shake.",
+    "Pick and shake the the bottle with white cap with the right arm.",
+    "Shake the bottle with white cap after picking it with the right arm.",
+    "Pick up the bottle with white cap and shake it.",
+    "Pick up the white capped orange plastic bottle with the right arm and shake.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Use the right arm to grab the bottle with ridged orange grip and shake.",
+    "Pick and shake the the bottle with white cap with the right arm.",
+    "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 up the bottle with ridged orange grip with the right arm and shake.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Pick up the bottle with white cap and shake it.",
+    "Use the right arm to grab the white capped orange plastic bottle and shake.",
+    "Pick and shake the the white capped orange plastic bottle with the right arm.",
+    "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 up the bottle with white cap with the right arm and shake.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Use the right arm to pick the bottle with ridged orange grip.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Use the right arm to grab the white capped orange plastic bottle and shake.",
+    "Pick and shake the the bottle with ridged orange grip with the right arm.",
+    "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 up the white capped orange plastic bottle with the right arm and shake.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Use the right arm to grab the bottle with white cap and shake.",
+    "Pick and shake the the bottle with white cap with the right arm.",
+    "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 up the white capped orange plastic bottle with the right arm and shake.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Use the right arm to grab the white capped orange plastic bottle and shake.",
+    "Pick and shake the the bottle with white cap with the right arm.",
+    "Shake the bottle with white cap after picking it with the right arm.",
+    "Pick up the bottle with white cap and shake it.",
+    "Pick up the bottle with white cap with the right arm and shake.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Use the right arm to pick the bottle with ridged orange grip.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Grab the bottle with white cap and shake it.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Use the right arm to grab the bottle with ridged orange grip and shake.",
+    "Pick and shake the the bottle with ridged orange grip with the right arm.",
+    "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."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006086.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006086.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0b58a79ccf8c67186ec21cc254b7a6c3da9fce8
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006086.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the plastic bottle with ghost print and shake it.",
+    "Shake the hand-sized bottle with screw cap after grabbing it.",
+    "Grab and shake the smooth surface bottle with gray shade using the left arm.",
+    "Pick the smooth cylindrical bottle, shake it with the left arm.",
+    "Shake the medium-sized plastic bottle using the left arm after grabbing.",
+    "Use the left arm to lift and shake the hand-sized bottle with screw cap.",
+    "Hold the medium cylinder-shaped bottle with the left arm and shake lightly.",
+    "Grab the gray bottle with slight shine using the left arm, then shake.",
+    "Shake the the smooth surface bottle with gray shade properly after lifting.",
+    "Lift the plastic bottle with ghost print with the left arm and shake it.",
+    "Shake the plastic bottle with ghost print firmly after grabbing.",
+    "Lift up the bottle shaped like small cylinder using the left arm, then shake.",
+    "Lift the medium-sized plastic bottle with the left arm and give it a shake.",
+    "Lift the bottle with cute ghost drawing with the left arm and shake.",
+    "Use the left arm to lift and shake the medium-sized plastic bottle.",
+    "With the left arm, pick the light gray colored container bottle and shake properly.",
+    "Secure the bottle with cute ghost drawing, shake it, and place it down.",
+    "Utilize the left arm to hold the medium-sized plastic bottle and shake it.",
+    "Grasp the plastic bottle with ghost print with the left arm and shake it.",
+    "Grab the rounded body bottle made of plastic with the left arm and shake.",
+    "Secure the gray bottle with slight shine and perform a shake.",
+    "Use the left arm to lift and shake the smooth surface bottle with gray shade.",
+    "Shake the light gray colored container bottle after grabbing it.",
+    "Shake the bottle with cute ghost drawing after grabbing it.",
+    "Grab the hand-sized bottle with screw cap and shake it steadily.",
+    "Grab the smooth cylindrical bottle and give it a shake.",
+    "Use the left arm to pick and shake the gray bottle with slight shine.",
+    "Grab the milk-bottle shape design firmly, shake it, and put it down.",
+    "Grip the gray bottle with slight shine using the left arm and shake.",
+    "Pick the rounded body bottle made of plastic up using the left arm and shake it.",
+    "Lift the rounded body bottle made of plastic and shake it gently.",
+    "Use the left arm to grab the light gray colored container bottle and shake it.",
+    "Use the left arm to hold the hand-sized bottle with screw cap and shake it.",
+    "Shake the gray bottle with slight shine thoroughly after grabbing it.",
+    "Hold the gray bottle with slight shine steady, then shake it.",
+    "Pick up the milk-bottle shape design and shake it well.",
+    "Catch the hand-sized bottle with screw cap and shake it instantly.",
+    "Pick the bottle with cute ghost drawing up with the left arm and shake.",
+    "Hold and shake the the hand-sized bottle with screw cap carefully.",
+    "Grab the plastic bottle with ghost print carefully and shake.",
+    "Pick the rounded body bottle made of plastic and perform shaking motion.",
+    "Shake the medium cylinder-shaped bottle after lifting it.",
+    "Hold the smooth cylindrical bottle, shake it briefly.",
+    "Using the left arm, shake the bottle with cute ghost drawing and then place it back.",
+    "Take the smooth surface bottle with gray shade using the left arm and give it a shake.",
+    "Use the left arm to grab the plastic bottle with ghost print and shake properly.",
+    "Lift the gray bottle with slight shine and shake it thoroughly.",
+    "Shake the bottle with cute ghost drawing after holding it firmly.",
+    "Grab the plastic bottle with ghost print and move it to shake.",
+    "Hold the medium cylinder-shaped bottle and shake it properly.",
+    "Pick up the bottle shaped like small cylinder and shake it.",
+    "Shake the medium-sized plastic bottle after grabbing it.",
+    "Grab and shake the smooth surface bottle with gray shade using the left arm.",
+    "Pick the gray bottle with slight shine, shake it with the left arm.",
+    "Shake the bottle shaped like small cylinder using the left arm after grabbing.",
+    "Use the left arm to lift and shake the plastic bottle with ghost print.",
+    "Hold the bottle shaped like small cylinder with the left arm and shake lightly.",
+    "Grab the rounded body bottle made of plastic using the left arm, then shake.",
+    "Shake the the medium cylinder-shaped bottle properly after lifting.",
+    "Lift the plastic bottle with ghost print with the left arm and shake it.",
+    "Shake the bottle shaped like small cylinder firmly after grabbing.",
+    "Lift up the gray bottle with slight shine using the left arm, then shake.",
+    "Lift the medium-sized plastic bottle with the left arm and give it a shake.",
+    "Lift the rounded body bottle made of plastic with the left arm and shake.",
+    "Use the left arm to lift and shake the medium cylinder-shaped bottle.",
+    "With the left arm, pick the smooth surface bottle with gray shade and shake properly.",
+    "Secure the plastic bottle with ghost print, shake it, and place it down.",
+    "Utilize the left arm to hold the plastic bottle with ghost print and shake it.",
+    "Grasp the light gray colored container bottle with the left arm and shake it.",
+    "Grab the rounded body bottle made of plastic with the left arm and shake.",
+    "Secure the smooth surface bottle with gray shade and perform a shake.",
+    "Use the left arm to lift and shake the bottle with cute ghost drawing.",
+    "Shake the light gray colored container bottle after grabbing it.",
+    "Shake the medium cylinder-shaped bottle after grabbing it.",
+    "Grab the smooth surface bottle with gray shade and shake it steadily.",
+    "Grab the plastic bottle with ghost print and give it a shake.",
+    "Use the left arm to pick and shake the plastic bottle with ghost print.",
+    "Grab the rounded body bottle made of plastic firmly, shake it, and put it down.",
+    "Grip the rounded body bottle made of plastic using the left arm and shake.",
+    "Pick the bottle with cute ghost drawing up using the left arm and shake it.",
+    "Lift the plastic bottle with ghost print and shake it gently.",
+    "Use the left arm to grab the smooth cylindrical bottle and shake it.",
+    "Use the left arm to hold the gray bottle with slight shine and shake it.",
+    "Shake the smooth surface bottle with gray shade thoroughly after grabbing it.",
+    "Hold the light gray colored container bottle steady, then shake it.",
+    "Pick up the medium cylinder-shaped bottle and shake it well.",
+    "Catch the bottle shaped like small cylinder and shake it instantly.",
+    "Pick the bottle with cute ghost drawing up with the left arm and shake.",
+    "Hold and shake the the light gray colored container bottle carefully.",
+    "Grab the medium cylinder-shaped bottle carefully and shake.",
+    "Pick the medium-sized plastic bottle and perform shaking motion.",
+    "Shake the medium-sized plastic bottle after lifting it.",
+    "Hold the smooth surface bottle with gray shade, shake it briefly.",
+    "Using the left arm, shake the smooth surface bottle with gray shade and then place it back.",
+    "Take the hand-sized bottle with screw cap using the left arm and give it a shake.",
+    "Use the left arm to grab the smooth surface bottle with gray shade and shake properly.",
+    "Lift the milk-bottle shape design and shake it thoroughly.",
+    "Shake the milk-bottle shape design after holding it firmly.",
+    "Grab the bottle with cute ghost drawing and move it to shake.",
+    "Hold the milk-bottle shape design and shake it properly."
+  ],
+  "unseen": [
+    "Use the left arm to grab the light gray bottle and shake.",
+    "Pick and shake the the light gray bottle with the left arm.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Grab the light gray bottle and shake it.",
+    "Pick up the gray bottle for holding drinks with the left arm and shake.",
+    "Shake the bottle with rounded cap top after picking it with the left arm.",
+    "Use the left arm to pick the gray bottle for holding drinks.",
+    "Use the left arm to grab the bottle with rounded cap top and shake.",
+    "Pick and shake the the gray bottle for holding drinks with the left arm.",
+    "Pick up the light gray bottle and shake it.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Pick up the gray bottle for holding drinks with the left arm and shake.",
+    "Shake the gray bottle for holding drinks after picking it with the left arm.",
+    "Use the left arm to pick the light gray bottle.",
+    "Use the left arm to grab the gray bottle for holding drinks and shake.",
+    "Pick and shake the the bottle with rounded cap top with the left arm.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Pick up the light gray bottle with the left arm and shake.",
+    "Shake the bottle with rounded cap top after picking it with the left arm.",
+    "Use the left arm to pick the light gray bottle.",
+    "Use the left arm to grab the gray bottle for holding drinks and shake.",
+    "Pick and shake the the light gray bottle with the left arm.",
+    "Pick up the light gray bottle and shake it.",
+    "Grab the gray bottle for holding drinks and give it a shake.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Pick up the gray bottle for holding drinks with the left arm and shake.",
+    "Shake the gray bottle for holding drinks after picking it with the left arm.",
+    "Use the left arm to pick the gray bottle for holding drinks.",
+    "Use the left arm to grab the light gray bottle and shake.",
+    "Pick and shake the the light gray bottle with the left arm.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Grab the gray bottle for holding drinks and give it a shake.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Pick up the bottle with rounded cap top with the left arm and shake.",
+    "Shake the gray bottle for holding drinks after picking it with the left arm.",
+    "Use the left arm to pick the bottle with rounded cap top.",
+    "Use the left arm to grab the bottle with rounded cap top and shake.",
+    "Pick and shake the the light gray bottle with the left arm.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Pick up the light gray bottle and shake it.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Grab the light gray bottle and shake it.",
+    "Pick up the gray bottle for holding drinks with the left arm and shake.",
+    "Shake the gray bottle for holding drinks after picking it with the left arm.",
+    "Use the left arm to pick the gray bottle for holding drinks.",
+    "Use the left arm to grab the gray bottle for holding drinks and shake.",
+    "Pick and shake the the bottle with rounded cap top with the left arm.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the light gray bottle and give it a shake.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the bottle with rounded cap top, shake it properly, then set it down.",
+    "Grab the gray bottle for holding drinks and shake it.",
+    "Pick up the light gray bottle with the left arm and shake.",
+    "Shake the light gray bottle after picking it with the left arm.",
+    "Use the left arm to pick the bottle with rounded cap top.",
+    "Use the left arm to grab the light gray bottle and shake.",
+    "Pick and shake the the light gray bottle with the left arm.",
+    "Pick up the light gray bottle and shake it.",
+    "Grab the gray bottle for holding drinks and give it a shake.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Grab the light gray bottle and shake it.",
+    "Pick up the light gray bottle with the left arm and shake.",
+    "Shake the light gray bottle after picking it with the left arm.",
+    "Use the left arm to pick the gray bottle for holding drinks.",
+    "Use the left arm to grab the gray bottle for holding drinks and shake.",
+    "Pick and shake the the light gray bottle with the left arm.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the light gray bottle and give it a shake.",
+    "Pick up the light gray bottle and shake it.",
+    "Grab the light gray bottle, shake it properly, then set it down.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Pick up the gray bottle for holding drinks with the left arm and shake.",
+    "Shake the light gray bottle after picking it with the left arm.",
+    "Use the left arm to pick the bottle with rounded cap top.",
+    "Use the left arm to grab the light gray bottle and shake.",
+    "Pick and shake the the bottle with rounded cap top with the left arm.",
+    "Pick up the gray bottle for holding drinks and shake it.",
+    "Grab the bottle with rounded cap top and give it a shake.",
+    "Pick up the bottle with rounded cap top and shake it.",
+    "Grab the gray bottle for holding drinks, shake it properly, then set it down.",
+    "Grab the bottle with rounded cap top and shake it.",
+    "Pick up the gray bottle for holding drinks with the left arm and shake.",
+    "Shake the light gray bottle after picking it with the left arm.",
+    "Use the left arm to pick the light gray bottle."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006093.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006093.json
new file mode 100644
index 0000000000000000000000000000000000000000..965b2c377c1c15c62881dc40f8944f3bf24e0e65
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006093.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Secure the black bottle, shake it, and place it down.",
+    "Use the left arm to lift and shake the yellow-capped cylindrical bottle.",
+    "Catch the yellow capped drink bottle and shake it instantly.",
+    "Shake the black cylindrical bottle with ridges after lifting it.",
+    "Hold the beverage bottle with black body, shake it briefly.",
+    "Take the black plastic bottle with Pepsi logo using the left arm and give it a shake.",
+    "With the left arm, pick the yellow capped drink bottle and shake properly.",
+    "Pick the drink bottle with rounded yellow lid, shake it with the left arm.",
+    "Shake the beverage bottle with black body after holding it firmly.",
+    "Pick up the smooth black bottle with ridges and shake it.",
+    "Hold the drink bottle with rounded yellow lid with the left arm and shake lightly.",
+    "Grasp the black bottle with the left arm and shake it.",
+    "Lift the drink bottle with rounded yellow lid and shake it thoroughly.",
+    "Grab and shake the plastic bottle with colorful label using the left arm.",
+    "Use the left arm to pick and shake the black bottle.",
+    "Grab the yellow capped drink bottle and move it to shake.",
+    "Utilize the left arm to hold the black plastic bottle with Pepsi logo and shake it.",
+    "Shake the beverage bottle with black body after grabbing it.",
+    "Secure the black bottle and perform a shake.",
+    "Grab the black cylindrical bottle with ridges and give it a shake.",
+    "Lift the black plastic bottle with Pepsi logo and shake it gently.",
+    "Lift the black cylindrical bottle with ridges with the left arm and shake it.",
+    "Shake the the black bottle properly after lifting.",
+    "Use the left arm to lift and shake the black cylindrical bottle with ridges.",
+    "Grab the black plastic bottle with Pepsi logo carefully and shake.",
+    "Pick the beverage bottle with black body and perform shaking motion.",
+    "Use the left arm to lift and shake the medium black bottle with printed label.",
+    "Using the left arm, shake the yellow capped drink bottle and then place it back.",
+    "Pick up the plastic bottle with colorful label and shake it well.",
+    "Hold the medium black bottle with printed label steady, then shake it.",
+    "Lift up the medium bottle with yellow cap using the left arm, then shake.",
+    "Pick the drink bottle with rounded yellow lid up with the left arm and shake.",
+    "Shake the plastic bottle with colorful label using the left arm after grabbing.",
+    "Hold the black bottle and shake it properly.",
+    "Use the left arm to hold the beverage bottle with black body and shake it.",
+    "Shake the plastic bottle with colorful label after grabbing it.",
+    "Hold and shake the the black plastic bottle with Pepsi logo carefully.",
+    "Pick the black bottle up using the left arm and shake it.",
+    "Grab the plastic bottle with colorful label using the left arm, then shake.",
+    "Lift the yellow capped drink bottle with the left arm and give it a shake.",
+    "Shake the drink bottle with rounded yellow lid thoroughly after grabbing it.",
+    "Use the left arm to grab the black plastic bottle with Pepsi logo and shake it.",
+    "Grab the beverage bottle with black body with the left arm and shake.",
+    "Use the left arm to grab the medium black bottle with printed label and shake properly.",
+    "Grab the yellow-capped cylindrical bottle firmly, shake it, and put it down.",
+    "Lift the bottle with blue and yellow print with the left arm and shake.",
+    "Shake the yellow-capped cylindrical bottle after grabbing it.",
+    "Grab the smooth black bottle with ridges and shake it steadily.",
+    "Shake the beverage bottle with black body firmly after grabbing.",
+    "Grip the medium bottle with yellow cap using the left arm and shake.",
+    "Secure the plastic bottle with colorful label, shake it, and place it down.",
+    "Use the left arm to lift and shake the yellow capped drink bottle.",
+    "Catch the black bottle and shake it instantly.",
+    "Shake the black bottle after lifting it.",
+    "Hold the bottle with blue and yellow print, shake it briefly.",
+    "Take the beverage bottle with black body using the left arm and give it a shake.",
+    "With the left arm, pick the yellow-capped cylindrical bottle and shake properly.",
+    "Pick the beverage bottle with black body, shake it with the left arm.",
+    "Shake the plastic bottle with colorful label after holding it firmly.",
+    "Pick up the drink bottle with rounded yellow lid and shake it.",
+    "Hold the medium black bottle with printed label with the left arm and shake lightly.",
+    "Grasp the medium bottle with yellow cap with the left arm and shake it.",
+    "Lift the plastic bottle with colorful label and shake it thoroughly.",
+    "Grab and shake the bottle with blue and yellow print using the left arm.",
+    "Use the left arm to pick and shake the smooth black bottle with ridges.",
+    "Grab the smooth black bottle with ridges and move it to shake.",
+    "Utilize the left arm to hold the drink bottle with rounded yellow lid and shake it.",
+    "Shake the drink bottle with rounded yellow lid after grabbing it.",
+    "Secure the black cylindrical bottle with ridges and perform a shake.",
+    "Grab the drink bottle with rounded yellow lid and give it a shake.",
+    "Lift the medium black bottle with printed label and shake it gently.",
+    "Lift the yellow capped drink bottle with the left arm and shake it.",
+    "Shake the the medium bottle with yellow cap properly after lifting.",
+    "Use the left arm to lift and shake the yellow-capped cylindrical bottle.",
+    "Grab the black bottle carefully and shake.",
+    "Pick the yellow capped drink bottle and perform shaking motion.",
+    "Use the left arm to lift and shake the black plastic bottle with Pepsi logo.",
+    "Using the left arm, shake the black plastic bottle with Pepsi logo and then place it back.",
+    "Pick up the medium black bottle with printed label and shake it well.",
+    "Hold the yellow-capped cylindrical bottle steady, then shake it.",
+    "Lift up the medium bottle with yellow cap using the left arm, then shake.",
+    "Pick the yellow capped drink bottle up with the left arm and shake.",
+    "Shake the black plastic bottle with Pepsi logo using the left arm after grabbing.",
+    "Hold the medium bottle with yellow cap and shake it properly.",
+    "Use the left arm to hold the yellow-capped cylindrical bottle and shake it.",
+    "Shake the bottle with blue and yellow print after grabbing it.",
+    "Hold and shake the the drink bottle with rounded yellow lid carefully.",
+    "Pick the black cylindrical bottle with ridges up using the left arm and shake it.",
+    "Grab the drink bottle with rounded yellow lid using the left arm, then shake.",
+    "Lift the smooth black bottle with ridges with the left arm and give it a shake.",
+    "Shake the smooth black bottle with ridges thoroughly after grabbing it.",
+    "Use the left arm to grab the medium black bottle with printed label and shake it.",
+    "Grab the yellow-capped cylindrical bottle with the left arm and shake.",
+    "Use the left arm to grab the medium black bottle with printed label and shake properly.",
+    "Grab the beverage bottle with black body firmly, shake it, and put it down.",
+    "Lift the plastic bottle with colorful label with the left arm and shake.",
+    "Shake the black bottle after grabbing it.",
+    "Grab the bottle with blue and yellow print and shake it steadily.",
+    "Shake the smooth black bottle with ridges firmly after grabbing.",
+    "Grip the drink bottle with rounded yellow lid using the left arm and shake."
+  ],
+  "unseen": [
+    "Shake the plastic bottle with blue label after picking it with the left arm.",
+    "Use the left arm to pick the hand-sized bottle with ridged bottom.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Pick and shake the the bottle with ridges near base with the left arm.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Use the left arm to grab the bottle with ridges near base and shake.",
+    "Pick up the plastic bottle with blue label with the left arm and shake.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.",
+    "Use the left arm to pick the hand-sized bottle with ridged bottom.",
+    "Grab the bottle with ridges near base and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Use the left arm to grab the bottle with ridges near base and shake.",
+    "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Shake the plastic bottle with blue label after picking it with the left arm.",
+    "Use the left arm to pick the bottle with ridges near base.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Pick and shake the the plastic bottle with blue label with the left arm.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Pick up the plastic bottle with blue label with the left arm and shake.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Shake the plastic bottle with blue label after picking it with the left arm.",
+    "Use the left arm to pick the bottle with ridges near base.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Shake the bottle with ridges near base after picking it with the left arm.",
+    "Use the left arm to pick the plastic bottle with blue label.",
+    "Grab the bottle with ridges near base and shake it.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Pick and shake the the bottle with ridges near base with the left arm.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Pick up the bottle with ridges near base with the left arm and shake.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Shake the bottle with ridges near base after picking it with the left arm.",
+    "Use the left arm to pick the plastic bottle with blue label.",
+    "Grab the bottle with ridges near base and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Pick and shake the the bottle with ridges near base with the left arm.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the left arm to grab the bottle with ridges near base and shake.",
+    "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.",
+    "Use the left arm to pick the hand-sized bottle with ridged bottom.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Pick and shake the the plastic bottle with blue label with the left arm.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Pick up the bottle with ridges near base with the left arm and shake.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Shake the bottle with ridges near base after picking it with the left arm.",
+    "Use the left arm to pick the bottle with ridges near base.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Pick and shake the the plastic bottle with blue label with the left arm.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the left arm to grab the bottle with ridges near base and shake.",
+    "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Shake the bottle with ridges near base after picking it with the left arm.",
+    "Use the left arm to pick the bottle with ridges near base.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Pick and shake the the bottle with ridges near base with the left arm.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Pick up the bottle with ridges near base with the left arm and shake.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Shake the bottle with ridges near base after picking it with the left arm.",
+    "Use the left arm to pick the bottle with ridges near base.",
+    "Grab the bottle with ridges near base and shake it.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Pick and shake the the plastic bottle with blue label with the left arm.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Use the left arm to grab the plastic bottle with blue label and shake.",
+    "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006125.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006125.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b4c6b2e5d5c812df932f8b9b999e9120c282c70
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006125.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the the medium plastic bottle with cap properly after lifting.",
+    "Hold the yellow bottle steady, then shake it.",
+    "Use the left arm to hold the yellow bottle for liquid storage and shake it.",
+    "Take the medium-sized bottle using the left arm and give it a shake.",
+    "Shake the yellow bottle for liquid storage using the left arm after grabbing.",
+    "Lift the plastic bottle with curved sides with the left arm and shake it.",
+    "Use the left arm to grab the medium plastic bottle with cap and shake it.",
+    "Use the left arm to grab the plastic bottle and shake properly.",
+    "Use the left arm to lift and shake the medium plastic bottle with cap.",
+    "Use the left arm to lift and shake the yellow bottle.",
+    "Lift the medium plastic bottle with cap and shake it thoroughly.",
+    "Shake the bottle with screw cap firmly after grabbing.",
+    "Pick the yellow bottle with dark label up with the left arm and shake.",
+    "Hold the handheld curvy bottle, shake it briefly.",
+    "Secure the plastic bottle and perform a shake.",
+    "Use the left arm to pick and shake the yellow bottle with blue label.",
+    "Grip the bottle with screw cap using the left arm and shake.",
+    "Grab the plastic bottle firmly, shake it, and put it down.",
+    "Pick the plastic bottle up using the left arm and shake it.",
+    "Grab the yellow bottle for liquid storage with the left arm and shake.",
+    "Grab the handheld curvy bottle and give it a shake.",
+    "Pick up the plastic bottle with curved sides and shake it.",
+    "Grab the smooth plastic bottle and move it to shake.",
+    "Lift up the medium-sized bottle using the left arm, then shake.",
+    "Shake the yellow bottle for liquid storage after grabbing it.",
+    "Grab the yellow bottle with blue label using the left arm, then shake.",
+    "Grab the yellow bottle for liquid storage carefully and shake.",
+    "Pick up the plastic bottle and shake it well.",
+    "Hold the bottle with screw cap and shake it properly.",
+    "Using the left arm, shake the medium-sized bottle and then place it back.",
+    "Pick the plastic bottle and perform shaking motion.",
+    "Shake the yellow bottle with dark label after grabbing it.",
+    "Lift the yellow bottle with blue label and shake it gently.",
+    "Shake the plastic bottle after holding it firmly.",
+    "Use the left arm to lift and shake the plastic bottle with curved sides.",
+    "Grasp the bottle for liquid with the left arm and shake it.",
+    "With the left arm, pick the yellow bottle with dark label and shake properly.",
+    "Hold and shake the the medium plastic bottle with cap carefully.",
+    "Catch the bottle with screw cap and shake it instantly.",
+    "Lift the plastic bottle with the left arm and give it a shake.",
+    "Pick the yellow bottle, shake it with the left arm.",
+    "Shake the handheld curvy bottle thoroughly after grabbing it.",
+    "Shake the bottle with screw cap after lifting it.",
+    "Utilize the left arm to hold the yellow bottle with blue label and shake it.",
+    "Shake the bottle for liquid after grabbing it.",
+    "Grab the yellow bottle with blue label and shake it steadily.",
+    "Lift the smooth plastic bottle with the left arm and shake.",
+    "Secure the handheld curvy bottle, shake it, and place it down.",
+    "Hold the bottle with screw cap with the left arm and shake lightly.",
+    "Grab and shake the smooth plastic bottle using the left arm.",
+    "Shake the the plastic bottle with curved sides properly after lifting.",
+    "Hold the yellow bottle for liquid storage steady, then shake it.",
+    "Use the left arm to hold the yellow bottle with blue label and shake it.",
+    "Take the medium plastic bottle with cap using the left arm and give it a shake.",
+    "Shake the plastic bottle using the left arm after grabbing.",
+    "Lift the yellow bottle with dark label with the left arm and shake it.",
+    "Use the left arm to grab the handheld curvy bottle and shake it.",
+    "Use the left arm to grab the smooth plastic bottle and shake properly.",
+    "Use the left arm to lift and shake the yellow bottle with blue label.",
+    "Use the left arm to lift and shake the plastic bottle.",
+    "Lift the medium plastic bottle with cap and shake it thoroughly.",
+    "Shake the bottle for liquid firmly after grabbing.",
+    "Pick the yellow bottle for liquid storage up with the left arm and shake.",
+    "Hold the yellow bottle with dark label, shake it briefly.",
+    "Secure the yellow bottle for liquid storage and perform a shake.",
+    "Use the left arm to pick and shake the yellow bottle with blue label.",
+    "Grip the yellow bottle with blue label using the left arm and shake.",
+    "Grab the medium plastic bottle with cap firmly, shake it, and put it down.",
+    "Pick the medium plastic bottle with cap up using the left arm and shake it.",
+    "Grab the yellow bottle for liquid storage with the left arm and shake.",
+    "Grab the yellow bottle and give it a shake.",
+    "Pick up the handheld curvy bottle and shake it.",
+    "Grab the yellow bottle with blue label and move it to shake.",
+    "Lift up the medium-sized bottle using the left arm, then shake.",
+    "Shake the plastic bottle after grabbing it.",
+    "Grab the yellow bottle with dark label using the left arm, then shake.",
+    "Grab the handheld curvy bottle carefully and shake.",
+    "Pick up the yellow bottle for liquid storage and shake it well.",
+    "Hold the plastic bottle with curved sides and shake it properly.",
+    "Using the left arm, shake the yellow bottle with blue label and then place it back.",
+    "Pick the yellow bottle with dark label and perform shaking motion.",
+    "Shake the medium plastic bottle with cap after grabbing it.",
+    "Lift the medium plastic bottle with cap and shake it gently.",
+    "Shake the medium plastic bottle with cap after holding it firmly.",
+    "Use the left arm to lift and shake the plastic bottle with curved sides.",
+    "Grasp the yellow bottle with dark label with the left arm and shake it.",
+    "With the left arm, pick the plastic bottle with curved sides and shake properly.",
+    "Hold and shake the the medium plastic bottle with cap carefully.",
+    "Catch the medium-sized bottle and shake it instantly.",
+    "Lift the yellow bottle with the left arm and give it a shake.",
+    "Pick the yellow bottle for liquid storage, shake it with the left arm.",
+    "Shake the plastic bottle thoroughly after grabbing it.",
+    "Shake the bottle for liquid after lifting it.",
+    "Utilize the left arm to hold the bottle with screw cap and shake it.",
+    "Shake the bottle for liquid after grabbing it.",
+    "Grab the yellow bottle and shake it steadily.",
+    "Lift the yellow bottle with the left arm and shake.",
+    "Secure the yellow bottle, shake it, and place it down.",
+    "Hold the handheld curvy bottle with the left arm and shake lightly.",
+    "Grab and shake the medium-sized bottle using the left arm."
+  ],
+  "unseen": [
+    "Pick and shake the the smooth bottle with blue text with the left arm.",
+    "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.",
+    "Grab the curvy yellow plastic bottle and shake it.",
+    "Pick up the smooth bottle with blue text and shake it.",
+    "Shake the yellow bottle with white cap after picking it with the left arm.",
+    "Grab the curvy yellow plastic bottle and give it a shake.",
+    "Pick up the yellow bottle with white cap with the left arm and shake.",
+    "Use the left arm to grab the yellow bottle with white cap and shake.",
+    "Pick up the curvy yellow plastic bottle and shake it.",
+    "Pick and shake the the curvy yellow plastic bottle with the left arm.",
+    "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.",
+    "Grab the curvy yellow plastic bottle and shake it.",
+    "Pick up the yellow bottle with white cap and shake it.",
+    "Shake the smooth bottle with blue text after picking it with the left arm.",
+    "Grab the yellow bottle with white cap and give it a shake.",
+    "Pick up the curvy yellow plastic bottle with the left arm and shake.",
+    "Use the left arm to grab the curvy yellow plastic bottle and shake.",
+    "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.",
+    "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.",
+    "Grab the curvy yellow plastic bottle and shake it.",
+    "Pick up the yellow bottle with white cap and shake it.",
+    "Shake the yellow bottle with white cap after picking it with the left arm.",
+    "Grab the curvy yellow plastic bottle and give it a shake.",
+    "Pick up the smooth bottle with blue text with the left arm and shake.",
+    "Use the left arm to grab the yellow bottle with white cap and shake.",
+    "Pick up the curvy yellow plastic bottle and shake it.",
+    "Pick and shake the the smooth bottle with blue text with the left arm.",
+    "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.",
+    "Grab the smooth bottle with blue text and shake it.",
+    "Pick up the yellow bottle with white cap and shake it.",
+    "Shake the yellow bottle with white cap after picking it with the left arm.",
+    "Grab the smooth bottle with blue text and give it a shake.",
+    "Pick up the smooth bottle with blue text with the left arm and shake.",
+    "Use the left arm to grab the yellow bottle with white cap and shake.",
+    "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.",
+    "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.",
+    "Grab the curvy yellow plastic bottle and shake it.",
+    "Pick up the yellow bottle with white cap and shake it.",
+    "Shake the smooth bottle with blue text after picking it with the left arm.",
+    "Grab the curvy yellow plastic bottle and give it a shake.",
+    "Pick up the smooth bottle with blue text with the left arm and shake.",
+    "Use the left arm to grab the yellow bottle with white cap and shake.",
+    "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.",
+    "Use the left arm to pick the curvy yellow plastic bottle.",
+    "Grab the curvy yellow plastic bottle, shake it properly, then set it down.",
+    "Grab the yellow bottle with white cap and shake it.",
+    "Pick up the smooth bottle with blue text and shake it.",
+    "Shake the smooth bottle with blue text after picking it with the left arm.",
+    "Grab the curvy yellow plastic bottle and give it a shake.",
+    "Pick up the curvy yellow plastic bottle with the left arm and shake.",
+    "Use the left arm to grab the smooth bottle with blue text and shake.",
+    "Pick up the curvy yellow plastic bottle and shake it.",
+    "Pick and shake the the yellow bottle with white cap with the left arm.",
+    "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.",
+    "Grab the smooth bottle with blue text and shake it.",
+    "Pick up the curvy yellow plastic bottle and shake it.",
+    "Shake the curvy yellow plastic bottle after picking it with the left arm.",
+    "Grab the curvy yellow plastic bottle and give it a shake.",
+    "Pick up the yellow bottle with white cap with the left arm and shake.",
+    "Use the left arm to grab the smooth bottle with blue text and shake.",
+    "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.",
+    "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.",
+    "Grab the yellow bottle with white cap and shake it.",
+    "Pick up the smooth bottle with blue text and shake it.",
+    "Shake the yellow bottle with white cap after picking it with the left arm.",
+    "Grab the yellow bottle with white cap and give it a shake.",
+    "Pick up the yellow bottle with white cap with the left arm and shake.",
+    "Use the left arm to grab the yellow bottle with white cap and shake.",
+    "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.",
+    "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.",
+    "Grab the curvy yellow plastic bottle and shake it.",
+    "Pick up the curvy yellow plastic bottle and shake it.",
+    "Shake the curvy yellow plastic bottle after picking it with the left arm.",
+    "Grab the smooth bottle with blue text and give it a shake.",
+    "Pick up the smooth bottle with blue text with the left arm and shake.",
+    "Use the left arm to grab the yellow bottle with white cap and shake.",
+    "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.",
+    "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.",
+    "Grab the yellow bottle with white cap and shake it.",
+    "Pick up the smooth bottle with blue text and shake it.",
+    "Shake the yellow bottle with white cap after picking it with the left arm.",
+    "Grab the curvy yellow plastic bottle and give it a shake.",
+    "Pick up the yellow bottle with white cap with the left arm and shake.",
+    "Use the left arm to grab the smooth bottle with blue text and shake.",
+    "Pick up the curvy yellow plastic bottle and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006127.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006127.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c92e031b9cb5eeb9851eae590f04d64b640d7b1
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006127.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the medium black bottle with printed label, shake it briefly.",
+    "Use the left arm to grab the drink bottle with rounded yellow lid and shake it.",
+    "Pick up the beverage bottle with black body and shake it.",
+    "Hold the drink bottle with rounded yellow lid steady, then shake it.",
+    "Shake the medium bottle with yellow cap firmly after grabbing.",
+    "Shake the yellow-capped cylindrical bottle after holding it firmly.",
+    "Pick the drink bottle with rounded yellow lid and perform shaking motion.",
+    "Catch the medium black bottle with printed label and shake it instantly.",
+    "Grab the medium black bottle with printed label and shake it steadily.",
+    "Grab the yellow-capped cylindrical bottle firmly, shake it, and put it down.",
+    "Grab the black plastic bottle with Pepsi logo with the left arm and shake.",
+    "Shake the yellow-capped cylindrical bottle after grabbing it.",
+    "Secure the yellow capped drink bottle and perform a shake.",
+    "Use the left arm to pick and shake the yellow-capped cylindrical bottle.",
+    "Grab the bottle with blue and yellow print carefully and shake.",
+    "Grasp the black cylindrical bottle with ridges with the left arm and shake it.",
+    "Shake the the plastic bottle with colorful label properly after lifting.",
+    "Shake the black plastic bottle with Pepsi logo thoroughly after grabbing it.",
+    "Shake the black plastic bottle with Pepsi logo after lifting it.",
+    "Grab the plastic bottle with colorful label using the left arm, then shake.",
+    "Grab the black cylindrical bottle with ridges and move it to shake.",
+    "Pick the plastic bottle with colorful label, shake it with the left arm.",
+    "Lift the yellow capped drink bottle with the left arm and shake it.",
+    "Pick the yellow-capped cylindrical bottle up using the left arm and shake it.",
+    "Pick up the medium black bottle with printed label and shake it well.",
+    "Grip the black plastic bottle with Pepsi logo using the left arm and shake.",
+    "Grab and shake the drink bottle with rounded yellow lid using the left arm.",
+    "Lift up the yellow-capped cylindrical bottle using the left arm, then shake.",
+    "Lift the yellow capped drink bottle and shake it gently.",
+    "Hold the bottle with blue and yellow print with the left arm and shake lightly.",
+    "Use the left arm to grab the medium bottle with yellow cap and shake properly.",
+    "Utilize the left arm to hold the black cylindrical bottle with ridges and shake it.",
+    "Use the left arm to lift and shake the plastic bottle with colorful label.",
+    "Shake the medium bottle with yellow cap after grabbing it.",
+    "Hold the smooth black bottle with ridges and shake it properly.",
+    "Shake the smooth black bottle with ridges using the left arm after grabbing.",
+    "Take the bottle with blue and yellow print using the left arm and give it a shake.",
+    "Hold and shake the the yellow capped drink bottle carefully.",
+    "Lift the beverage bottle with black body with the left arm and give it a shake.",
+    "Secure the drink bottle with rounded yellow lid, shake it, and place it down.",
+    "Use the left arm to lift and shake the medium black bottle with printed label.",
+    "Pick the black bottle up with the left arm and shake.",
+    "Grab the bottle with blue and yellow print and give it a shake.",
+    "Use the left arm to hold the yellow capped drink bottle and shake it.",
+    "Shake the plastic bottle with colorful label after grabbing it.",
+    "Lift the bottle with blue and yellow print with the left arm and shake.",
+    "Using the left arm, shake the black cylindrical bottle with ridges and then place it back.",
+    "With the left arm, pick the medium black bottle with printed label and shake properly.",
+    "Lift the drink bottle with rounded yellow lid and shake it thoroughly.",
+    "Use the left arm to lift and shake the black plastic bottle with Pepsi logo.",
+    "Hold the beverage bottle with black body, shake it briefly.",
+    "Use the left arm to grab the bottle with blue and yellow print and shake it.",
+    "Pick up the black cylindrical bottle with ridges and shake it.",
+    "Hold the medium bottle with yellow cap steady, then shake it.",
+    "Shake the black cylindrical bottle with ridges firmly after grabbing.",
+    "Shake the medium bottle with yellow cap after holding it firmly.",
+    "Pick the beverage bottle with black body and perform shaking motion.",
+    "Catch the medium bottle with yellow cap and shake it instantly.",
+    "Grab the drink bottle with rounded yellow lid and shake it steadily.",
+    "Grab the yellow capped drink bottle firmly, shake it, and put it down.",
+    "Grab the smooth black bottle with ridges with the left arm and shake.",
+    "Shake the medium black bottle with printed label after grabbing it.",
+    "Secure the yellow capped drink bottle and perform a shake.",
+    "Use the left arm to pick and shake the smooth black bottle with ridges.",
+    "Grab the medium black bottle with printed label carefully and shake.",
+    "Grasp the beverage bottle with black body with the left arm and shake it.",
+    "Shake the the beverage bottle with black body properly after lifting.",
+    "Shake the drink bottle with rounded yellow lid thoroughly after grabbing it.",
+    "Shake the yellow capped drink bottle after lifting it.",
+    "Grab the beverage bottle with black body using the left arm, then shake.",
+    "Grab the yellow-capped cylindrical bottle and move it to shake.",
+    "Pick the beverage bottle with black body, shake it with the left arm.",
+    "Lift the beverage bottle with black body with the left arm and shake it.",
+    "Pick the black plastic bottle with Pepsi logo up using the left arm and shake it.",
+    "Pick up the medium black bottle with printed label and shake it well.",
+    "Grip the plastic bottle with colorful label using the left arm and shake.",
+    "Grab and shake the bottle with blue and yellow print using the left arm.",
+    "Lift up the medium bottle with yellow cap using the left arm, then shake.",
+    "Lift the medium black bottle with printed label and shake it gently.",
+    "Hold the beverage bottle with black body with the left arm and shake lightly.",
+    "Use the left arm to grab the black cylindrical bottle with ridges and shake properly.",
+    "Utilize the left arm to hold the black cylindrical bottle with ridges and shake it.",
+    "Use the left arm to lift and shake the black bottle.",
+    "Shake the medium bottle with yellow cap after grabbing it.",
+    "Hold the drink bottle with rounded yellow lid and shake it properly.",
+    "Shake the medium black bottle with printed label using the left arm after grabbing.",
+    "Take the black bottle using the left arm and give it a shake.",
+    "Hold and shake the the bottle with blue and yellow print carefully.",
+    "Lift the beverage bottle with black body with the left arm and give it a shake.",
+    "Secure the black plastic bottle with Pepsi logo, shake it, and place it down.",
+    "Use the left arm to lift and shake the yellow-capped cylindrical bottle.",
+    "Pick the black plastic bottle with Pepsi logo up with the left arm and shake.",
+    "Grab the black plastic bottle with Pepsi logo and give it a shake.",
+    "Use the left arm to hold the black bottle and shake it.",
+    "Shake the medium bottle with yellow cap after grabbing it.",
+    "Lift the plastic bottle with colorful label with the left arm and shake.",
+    "Using the left arm, shake the medium bottle with yellow cap and then place it back.",
+    "With the left arm, pick the plastic bottle with colorful label and shake properly.",
+    "Lift the beverage bottle with black body and shake it thoroughly.",
+    "Use the left arm to lift and shake the drink bottle with rounded yellow lid."
+  ],
+  "unseen": [
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Pick up the plastic bottle with blue label with the left arm and shake.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the left arm to pick the hand-sized bottle with ridged bottom.",
+    "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Pick and shake the the bottle with ridges near base with the left arm.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Shake the bottle with ridges near base after picking it with the left arm.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Pick up the bottle with ridges near base with the left arm and shake.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the left arm to pick the bottle with ridges near base.",
+    "Use the left arm to grab the plastic bottle with blue label and shake.",
+    "Pick and shake the the bottle with ridges near base with the left arm.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Shake the bottle with ridges near base after picking it with the left arm.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Pick up the bottle with ridges near base with the left arm and shake.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Use the left arm to pick the bottle with ridges near base.",
+    "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Use the left arm to pick the plastic bottle with blue label.",
+    "Use the left arm to grab the plastic bottle with blue label and shake.",
+    "Pick and shake the the plastic bottle with blue label with the left arm.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the left arm to pick the hand-sized bottle with ridged bottom.",
+    "Use the left arm to grab the plastic bottle with blue label and shake.",
+    "Pick and shake the the bottle with ridges near base with the left arm.",
+    "Grab the bottle with ridges near base and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Shake the bottle with ridges near base after picking it with the left arm.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the left arm to pick the plastic bottle with blue label.",
+    "Use the left arm to grab the plastic bottle with blue label and shake.",
+    "Pick and shake the the bottle with ridges near base with the left arm.",
+    "Grab the bottle with ridges near base and shake it.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Shake the plastic bottle with blue label after picking it with the left arm.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Pick up the plastic bottle with blue label with the left arm and shake.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the left arm to pick the bottle with ridges near base.",
+    "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Pick and shake the the plastic bottle with blue label with the left arm.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Shake the plastic bottle with blue label after picking it with the left arm.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick up the plastic bottle with blue label with the left arm and shake.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Use the left arm to pick the plastic bottle with blue label.",
+    "Use the left arm to grab the bottle with ridges near base and shake.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.",
+    "Grab the bottle with ridges near base and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Shake the bottle with ridges near base after picking it with the left arm.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the left arm to pick the hand-sized bottle with ridged bottom.",
+    "Use the left arm to grab the plastic bottle with blue label and shake.",
+    "Pick and shake the the bottle with ridges near base with the left arm.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Shake the plastic bottle with blue label after picking it with the left arm.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Pick up the plastic bottle with blue label with the left arm and shake.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Use the left arm to pick the plastic bottle with blue label.",
+    "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.",
+    "Grab the bottle with ridges near base and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006148.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006148.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab64b433817cc4d82704654b5864900f596510c1
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006148.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the white bottle with red text after grabbing it.",
+    "Use the right arm to lift and shake the white bottle for liquids.",
+    "Hold the bottle with tapering neck with the right arm and shake lightly.",
+    "Grab the white bottle with orange lid firmly, shake it, and put it down.",
+    "Secure the white bottle with orange lid and perform a shake.",
+    "Secure the bottle with orange screw cap, shake it, and place it down.",
+    "Use the right arm to pick and shake the plastic bottle.",
+    "Hold the medium-sized bottle steady, then shake it.",
+    "Hold the handheld white bottle with cap, shake it briefly.",
+    "Lift the white bottle with red text and shake it thoroughly.",
+    "Pick the handheld white bottle with cap and perform shaking motion.",
+    "Grab the handheld white bottle with cap using the right arm, then shake.",
+    "Shake the cylindrical bottle with red writing after grabbing it.",
+    "Lift the bottle with orange screw cap with the right arm and give it a shake.",
+    "Lift the bottle with orange screw cap with the right arm and shake it.",
+    "Grab the plastic bottle carefully and shake.",
+    "Shake the handheld white bottle with cap firmly after grabbing.",
+    "Grab the plastic bottle and move it to shake.",
+    "Grab and shake the white bottle with red text using the right arm.",
+    "Shake the white bottle with red text after lifting it.",
+    "Pick up the medium-sized bottle and shake it.",
+    "With the right arm, pick the white bottle and shake properly.",
+    "Use the right arm to lift and shake the smooth bottle.",
+    "Shake the handheld white bottle with cap after holding it firmly.",
+    "Pick up the cylindrical bottle with red writing and shake it well.",
+    "Grab the white cylindrical bottle and shake it steadily.",
+    "Catch the medium-sized bottle and shake it instantly.",
+    "Use the right arm to grab the white cylindrical bottle and shake it.",
+    "Use the right arm to hold the white bottle with orange lid and shake it.",
+    "Pick the bottle with orange screw cap up with the right arm and shake.",
+    "Grip the plastic bottle using the right arm and shake.",
+    "Shake the white bottle using the right arm after grabbing.",
+    "Lift up the handheld white bottle with cap using the right arm, then shake.",
+    "Lift the smooth bottle and shake it gently.",
+    "Hold the smooth bottle and shake it properly.",
+    "Hold and shake the the medium-sized bottle carefully.",
+    "Use the right arm to grab the white cylindrical bottle and shake properly.",
+    "Use the right arm to lift and shake the cylindrical bottle with red writing.",
+    "Shake the the handheld white bottle with cap properly after lifting.",
+    "Pick the white bottle, shake it with the right arm.",
+    "Grab the white bottle with red text with the right arm and shake.",
+    "Shake the bottle with tapering neck thoroughly after grabbing it.",
+    "Pick the smooth bottle up using the right arm and shake it.",
+    "Take the smooth bottle using the right arm and give it a shake.",
+    "Lift the plastic bottle with the right arm and shake.",
+    "Shake the white bottle with red text after grabbing it.",
+    "Using the right arm, shake the white cylindrical bottle and then place it back.",
+    "Grasp the white cylindrical bottle with the right arm and shake it.",
+    "Grab the white bottle with red text and give it a shake.",
+    "Utilize the right arm to hold the white bottle and shake it.",
+    "Shake the bottle with orange screw cap after grabbing it.",
+    "Use the right arm to lift and shake the white bottle with orange lid.",
+    "Hold the white bottle with the right arm and shake lightly.",
+    "Grab the smooth bottle firmly, shake it, and put it down.",
+    "Secure the white bottle with orange lid and perform a shake.",
+    "Secure the white bottle with red text, shake it, and place it down.",
+    "Use the right arm to pick and shake the plastic bottle.",
+    "Hold the bottle with orange screw cap steady, then shake it.",
+    "Hold the cylindrical bottle with red writing, shake it briefly.",
+    "Lift the white bottle for liquids and shake it thoroughly.",
+    "Pick the smooth bottle and perform shaking motion.",
+    "Grab the bottle with orange screw cap using the right arm, then shake.",
+    "Shake the bottle with tapering neck after grabbing it.",
+    "Lift the white bottle for liquids with the right arm and give it a shake.",
+    "Lift the white cylindrical bottle with the right arm and shake it.",
+    "Grab the smooth bottle carefully and shake.",
+    "Shake the bottle with tapering neck firmly after grabbing.",
+    "Grab the white cylindrical bottle and move it to shake.",
+    "Grab and shake the bottle with tapering neck using the right arm.",
+    "Shake the white bottle after lifting it.",
+    "Pick up the medium-sized bottle and shake it.",
+    "With the right arm, pick the white bottle with red text and shake properly.",
+    "Use the right arm to lift and shake the smooth bottle.",
+    "Shake the cylindrical bottle with red writing after holding it firmly.",
+    "Pick up the bottle with tapering neck and shake it well.",
+    "Grab the bottle with orange screw cap and shake it steadily.",
+    "Catch the bottle with orange screw cap and shake it instantly.",
+    "Use the right arm to grab the white bottle with orange lid and shake it.",
+    "Use the right arm to hold the white bottle for liquids and shake it.",
+    "Pick the handheld white bottle with cap up with the right arm and shake.",
+    "Grip the smooth bottle using the right arm and shake.",
+    "Shake the cylindrical bottle with red writing using the right arm after grabbing.",
+    "Lift up the bottle with orange screw cap using the right arm, then shake.",
+    "Lift the medium-sized bottle and shake it gently.",
+    "Hold the medium-sized bottle and shake it properly.",
+    "Hold and shake the the smooth bottle carefully.",
+    "Use the right arm to grab the white bottle for liquids and shake properly.",
+    "Use the right arm to lift and shake the white bottle.",
+    "Shake the the handheld white bottle with cap properly after lifting.",
+    "Pick the bottle with tapering neck, shake it with the right arm.",
+    "Grab the plastic bottle with the right arm and shake.",
+    "Shake the white bottle thoroughly after grabbing it.",
+    "Pick the plastic bottle up using the right arm and shake it.",
+    "Take the plastic bottle using the right arm and give it a shake.",
+    "Lift the white cylindrical bottle with the right arm and shake.",
+    "Shake the handheld white bottle with cap after grabbing it.",
+    "Using the right arm, shake the bottle with tapering neck and then place it back.",
+    "Grasp the cylindrical bottle with red writing with the right arm and shake it.",
+    "Grab the handheld white bottle with cap and give it a shake.",
+    "Utilize the right arm to hold the white cylindrical bottle and shake it."
+  ],
+  "unseen": [
+    "Pick up the plastic bottle with printed label and shake it.",
+    "Pick and shake the the plastic bottle with printed label with the right arm.",
+    "Grab the plastic bottle with printed label and give it a shake.",
+    "Use the right arm to grab the plastic bottle with printed label and shake.",
+    "Shake the bottle with glossy surface after picking it with the right arm.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Grab the bottle with orange cap, shake it properly, then set it down.",
+    "Grab the plastic bottle with printed label and shake it.",
+    "Pick up the bottle with orange cap with the right arm and shake.",
+    "Use the right arm to pick the plastic bottle with printed label.",
+    "Pick up the plastic bottle with printed label and shake it.",
+    "Pick and shake the the plastic bottle with printed label with the right arm.",
+    "Grab the bottle with orange cap and give it a shake.",
+    "Use the right arm to grab the bottle with glossy surface and shake.",
+    "Shake the bottle with orange cap after picking it with the right arm.",
+    "Pick up the bottle with glossy surface and shake it.",
+    "Grab the plastic bottle with printed label, shake it properly, then set it down.",
+    "Grab the bottle with glossy surface and shake it.",
+    "Pick up the bottle with orange cap with the right arm and shake.",
+    "Use the right arm to pick the plastic bottle with printed label.",
+    "Pick up the plastic bottle with printed label and shake it.",
+    "Pick and shake the the plastic bottle with printed label with the right arm.",
+    "Grab the bottle with orange cap and give it a shake.",
+    "Use the right arm to grab the bottle with orange cap and shake.",
+    "Shake the bottle with orange cap after picking it with the right 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.",
+    "Grab the bottle with orange cap and shake it.",
+    "Pick up the plastic bottle with printed label 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.",
+    "Pick and shake the the plastic bottle with printed label with the right arm.",
+    "Grab the bottle with orange cap and give it a shake.",
+    "Use the right arm to grab the bottle with orange cap and shake.",
+    "Shake the bottle with orange cap after picking it with the right arm.",
+    "Pick up the bottle with glossy surface and shake it.",
+    "Grab the plastic bottle with printed label, shake it properly, then set it down.",
+    "Grab the bottle with glossy surface and shake it.",
+    "Pick up the plastic bottle with printed label with the right arm and shake.",
+    "Use the right arm to pick the bottle with orange cap.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Pick and shake the the bottle with glossy surface with the right arm.",
+    "Grab the bottle with glossy surface and give it a shake.",
+    "Use the right arm to grab the plastic bottle with printed label and shake.",
+    "Shake the bottle with orange cap after picking it with the right arm.",
+    "Pick up the bottle with glossy surface and shake it.",
+    "Grab the bottle with orange cap, shake it properly, then set it down.",
+    "Grab the bottle with orange cap and shake it.",
+    "Pick up the bottle with orange cap 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.",
+    "Pick and shake the the bottle with orange cap with the right arm.",
+    "Grab the bottle with glossy surface and give it a shake.",
+    "Use the right arm to grab the bottle with glossy surface and shake.",
+    "Shake the bottle with glossy surface after picking it with the right arm.",
+    "Pick up the bottle with glossy surface and shake it.",
+    "Grab the plastic bottle with printed label, shake it properly, then set it down.",
+    "Grab the bottle with orange cap and shake it.",
+    "Pick up the bottle with orange cap 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.",
+    "Pick and shake the the bottle with orange cap with the right arm.",
+    "Grab the plastic bottle with printed label and give it a shake.",
+    "Use the right arm to grab the bottle with glossy surface and shake.",
+    "Shake the bottle with orange cap after picking it with the right arm.",
+    "Pick up the bottle with glossy surface and shake it.",
+    "Grab the bottle with orange cap, shake it properly, then set it down.",
+    "Grab the plastic bottle with printed label and shake it.",
+    "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.",
+    "Pick and shake the the bottle with orange cap with the right arm.",
+    "Grab the plastic bottle with printed label and give it a shake.",
+    "Use the right arm to grab the bottle with glossy surface and shake.",
+    "Shake the bottle with glossy surface after picking it with the right arm.",
+    "Pick up the bottle with glossy surface and shake it.",
+    "Grab the plastic bottle with printed label, shake it properly, then set it down.",
+    "Grab the plastic bottle with printed label and shake it.",
+    "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 plastic bottle with printed label and shake it.",
+    "Pick and shake the the bottle with glossy surface with the right arm.",
+    "Grab the bottle with glossy surface and give it a shake.",
+    "Use the right arm to grab the bottle with orange cap and shake.",
+    "Shake the bottle with glossy surface after picking it with the right arm.",
+    "Pick up the bottle with glossy surface and shake it.",
+    "Grab the bottle with orange cap, shake it properly, then set it down.",
+    "Grab the bottle with glossy surface and shake it.",
+    "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.",
+    "Pick and shake the the bottle with glossy surface with the right arm.",
+    "Grab the plastic bottle with printed label and give it a shake.",
+    "Use the right arm to grab the bottle with glossy surface and shake.",
+    "Shake the bottle with orange cap after picking it with the right 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.",
+    "Grab the bottle with glossy surface and shake it.",
+    "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."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006179.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006179.json
new file mode 100644
index 0000000000000000000000000000000000000000..e81a336714d876b7b5c1c5f7f6ca9ff7a2e88995
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006179.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift up the bottle with green and white labels using the left arm, then shake.",
+    "Grasp the yellow bottle with the left arm and shake it.",
+    "Lift the plastic bottle with the left arm and give it a shake.",
+    "Using the left arm, shake the medium rectangular yellow bottle and then place it back.",
+    "Hold the smooth bottle with rounded edges and shake it properly.",
+    "Shake the rectangular bottle with cylindrical neck after holding it firmly.",
+    "Grab the yellow container with rounded edges and move it to shake.",
+    "Use the left arm to grab the smooth bottle with rounded edges and shake properly.",
+    "Pick up the yellow bottle and shake it well.",
+    "Shake the medium rectangular yellow bottle thoroughly after grabbing it.",
+    "Pick the bottle with green and white labels up using the left arm and shake it.",
+    "Hold the yellow plastic bottle with white top steady, then shake it.",
+    "Shake the smooth bottle with rounded edges after lifting it.",
+    "Use the left arm to grab the bottle with green label and shake it.",
+    "Use the left arm to pick and shake the bottle with a smooth plastic body.",
+    "Utilize the left arm to hold the bottle with green label and shake it.",
+    "Grab the medium rectangular yellow bottle with the left arm and shake.",
+    "Shake the medium rectangular yellow bottle after grabbing it.",
+    "With the left arm, pick the medium rectangular yellow bottle and shake properly.",
+    "Hold the yellow plastic bottle with white top, shake it briefly.",
+    "Pick up the medium rectangular yellow bottle and shake it.",
+    "Grab and shake the medium rectangular yellow bottle using the left arm.",
+    "Secure the smooth bottle with rounded edges, shake it, and place it down.",
+    "Lift the bottle with green and white labels with the left arm and shake.",
+    "Take the yellow bottle with a green design using the left arm and give it a shake.",
+    "Shake the yellow plastic bottle with white top after grabbing it.",
+    "Lift the bottle with green label with the left arm and shake it.",
+    "Pick the plastic bottle, shake it with the left arm.",
+    "Catch the bottle with green and white labels and shake it instantly.",
+    "Hold the yellow container with rounded edges with the left arm and shake lightly.",
+    "Grip the yellow bottle with a green design using the left arm and shake.",
+    "Shake the bottle with green label firmly after grabbing.",
+    "Use the left arm to lift and shake the yellow bottle with a green design.",
+    "Grab the bottle with green and white labels carefully and shake.",
+    "Grab the yellow bottle firmly, shake it, and put it down.",
+    "Pick the smooth bottle with rounded edges up with the left arm and shake.",
+    "Shake the yellow bottle with a green design using the left arm after grabbing.",
+    "Grab the medium rectangular yellow bottle using the left arm, then shake.",
+    "Pick the smooth bottle with rounded edges and perform shaking motion.",
+    "Secure the bottle with green and white labels and perform a shake.",
+    "Hold and shake the the bottle with green label carefully.",
+    "Use the left arm to lift and shake the yellow bottle with a green design.",
+    "Grab the plastic bottle and give it a shake.",
+    "Lift the bottle with green label and shake it thoroughly.",
+    "Grab the yellow container with rounded edges and shake it steadily.",
+    "Use the left arm to lift and shake the smooth bottle with rounded edges.",
+    "Shake the yellow container with rounded edges after grabbing it.",
+    "Lift the bottle with a smooth plastic body and shake it gently.",
+    "Use the left arm to hold the plastic bottle and shake it.",
+    "Shake the the yellow bottle with a green design properly after lifting.",
+    "Lift up the yellow container with rounded edges using the left arm, then shake.",
+    "Grasp the bottle with white cap with the left arm and shake it.",
+    "Lift the bottle with white cap with the left arm and give it a shake.",
+    "Using the left arm, shake the plastic bottle and then place it back.",
+    "Hold the yellow plastic bottle with white top and shake it properly.",
+    "Shake the yellow bottle after holding it firmly.",
+    "Grab the smooth bottle with rounded edges and move it to shake.",
+    "Use the left arm to grab the yellow container with rounded edges and shake properly.",
+    "Pick up the yellow plastic bottle with white top and shake it well.",
+    "Shake the bottle with white cap thoroughly after grabbing it.",
+    "Pick the yellow container with rounded edges up using the left arm and shake it.",
+    "Hold the bottle with green and white labels steady, then shake it.",
+    "Shake the bottle with white cap after lifting it.",
+    "Use the left arm to grab the yellow bottle and shake it.",
+    "Use the left arm to pick and shake the bottle with green and white labels.",
+    "Utilize the left arm to hold the rectangular bottle with cylindrical neck and shake it.",
+    "Grab the bottle with white cap with the left arm and shake.",
+    "Shake the bottle with a smooth plastic body after grabbing it.",
+    "With the left arm, pick the bottle with a smooth plastic body and shake properly.",
+    "Hold the bottle with a smooth plastic body, shake it briefly.",
+    "Pick up the bottle with green and white labels and shake it.",
+    "Grab and shake the smooth bottle with rounded edges using the left arm.",
+    "Secure the yellow bottle, shake it, and place it down.",
+    "Lift the bottle with a smooth plastic body with the left arm and shake.",
+    "Take the yellow bottle using the left arm and give it a shake.",
+    "Shake the yellow bottle with a green design after grabbing it.",
+    "Lift the plastic bottle with the left arm and shake it.",
+    "Pick the yellow container with rounded edges, shake it with the left arm.",
+    "Catch the smooth bottle with rounded edges and shake it instantly.",
+    "Hold the plastic bottle with the left arm and shake lightly.",
+    "Grip the medium rectangular yellow bottle using the left arm and shake.",
+    "Shake the yellow bottle firmly after grabbing.",
+    "Use the left arm to lift and shake the rectangular bottle with cylindrical neck.",
+    "Grab the plastic bottle carefully and shake.",
+    "Grab the yellow plastic bottle with white top firmly, shake it, and put it down.",
+    "Pick the bottle with a smooth plastic body up with the left arm and shake.",
+    "Shake the medium rectangular yellow bottle using the left arm after grabbing.",
+    "Grab the bottle with green label using the left arm, then shake.",
+    "Pick the bottle with white cap and perform shaking motion.",
+    "Secure the yellow bottle with a green design and perform a shake.",
+    "Hold and shake the the bottle with green and white labels carefully.",
+    "Use the left arm to lift and shake the bottle with a smooth plastic body.",
+    "Grab the yellow bottle and give it a shake.",
+    "Lift the bottle with a smooth plastic body and shake it thoroughly.",
+    "Grab the yellow plastic bottle with white top and shake it steadily.",
+    "Use the left arm to lift and shake the yellow bottle.",
+    "Shake the plastic bottle after grabbing it.",
+    "Lift the bottle with white cap and shake it gently.",
+    "Use the left arm to hold the bottle with a smooth plastic body and shake it.",
+    "Shake the the yellow bottle properly after lifting."
+  ],
+  "unseen": [
+    "Pick up the hand-sized yellow plastic bottle with the left arm and shake.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the left arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Use the left arm to pick the yellow bottle for liquid storage.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the left arm.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the left arm.",
+    "Pick up the yellow rectangular bottle with the left arm and shake.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the left arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Use the left arm to pick the yellow rectangular bottle.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the left arm.",
+    "Pick and shake the the yellow bottle for liquid storage with the left arm.",
+    "Pick up the yellow bottle for liquid storage with the left arm and shake.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the left arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the left arm.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the left arm.",
+    "Pick up the yellow bottle for liquid storage with the left arm and shake.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Use the left arm to pick the yellow rectangular bottle.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Pick and shake the the yellow bottle for liquid storage with the left arm.",
+    "Pick up the yellow rectangular bottle with the left arm and shake.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the left arm to grab the yellow rectangular bottle and shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Use the left arm to pick the yellow bottle for liquid storage.",
+    "Shake the yellow rectangular bottle after picking it with the left arm.",
+    "Pick and shake the the yellow rectangular bottle with the left arm.",
+    "Pick up the yellow bottle for liquid storage with the left arm and shake.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the left arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Use the left arm to pick the yellow rectangular bottle.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Pick and shake the the yellow rectangular bottle with the left arm.",
+    "Pick up the yellow bottle for liquid storage with the left arm and shake.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Use the left arm to pick the yellow bottle for liquid storage.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Pick and shake the the yellow bottle for liquid storage with the left arm.",
+    "Pick up the hand-sized yellow plastic bottle with the left arm and shake.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the left arm to grab the yellow rectangular bottle and shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Use the left arm to pick the yellow rectangular bottle.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the left arm.",
+    "Pick up the yellow bottle for liquid storage with the left arm and shake.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the left arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Use the left arm to pick the yellow rectangular bottle.",
+    "Shake the yellow rectangular bottle after picking it with the left arm.",
+    "Pick and shake the the yellow bottle for liquid storage with the left arm.",
+    "Pick up the yellow rectangular bottle with the left arm and shake.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the left arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Use the left arm to pick the yellow bottle for liquid storage.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Pick and shake the the yellow bottle for liquid storage with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006188.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006188.json
new file mode 100644
index 0000000000000000000000000000000000000000..adaa49b51b4a8198d29d5e80d5d3ac15843bdc42
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006188.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the bottle with white neck and red top steady, then shake it.",
+    "Grab the red-capped bottle and move it to shake.",
+    "Lift the red-capped bottle with the right arm and shake it.",
+    "Shake the medium dark brown bottle after holding it firmly.",
+    "Grab the medium dark brown bottle with the right arm and shake.",
+    "Catch the dark drink bottle with logo and shake it instantly.",
+    "Shake the plastic drink bottle thoroughly after grabbing it.",
+    "Grasp the medium dark brown bottle with the right arm and shake it.",
+    "Hold and shake the the hand-sized soda bottle carefully.",
+    "Lift the smooth bottle with red lid and shake it thoroughly.",
+    "Grab the smooth bottle with red lid firmly, shake it, and put it down.",
+    "Grab the brown bottle with red label carefully and shake.",
+    "Hold the bottle with white neck and red top, shake it briefly.",
+    "Hold the red-capped bottle with the right arm and shake lightly.",
+    "Hold the brown bottle with red label and shake it properly.",
+    "Grab the long thin bottle using the right arm, then shake.",
+    "Use the right arm to grab the red-capped bottle and shake it.",
+    "Shake the hand-sized soda bottle after grabbing it.",
+    "Shake the the plastic drink bottle properly after lifting.",
+    "Grip the brown bottle with red label using the right arm and shake.",
+    "Use the right arm to pick and shake the hand-sized soda bottle.",
+    "Pick up the narrow-necked bottle and shake it.",
+    "Grab and shake the plastic drink bottle using the right arm.",
+    "Shake the plastic drink bottle after grabbing it.",
+    "With the right arm, pick the bottle with ridges on bottom and shake properly.",
+    "Lift the bottle with ridges on bottom and shake it gently.",
+    "Lift the dark drink bottle with logo with the right arm and shake.",
+    "Shake the Coca-Cola bottle firmly after grabbing.",
+    "Use the right arm to lift and shake the narrow-necked bottle.",
+    "Lift up the smooth bottle with red lid using the right arm, then shake.",
+    "Use the right arm to lift and shake the bottle with white neck and red top.",
+    "Pick the long thin bottle, shake it with the right arm.",
+    "Take the brown bottle with red label using the right arm and give it a shake.",
+    "Secure the dark drink bottle with logo and perform a shake.",
+    "Use the right arm to hold the narrow-necked bottle and shake it.",
+    "Grab the red-capped bottle and shake it steadily.",
+    "Shake the dark drink bottle with logo after grabbing it.",
+    "Pick the red-capped bottle and perform shaking motion.",
+    "Grab the bottle with white neck and red top and give it a shake.",
+    "Pick the dark drink bottle with logo up with the right arm and shake.",
+    "Lift the red-capped bottle with the right arm and give it a shake.",
+    "Use the right arm to lift and shake the Coca-Cola bottle.",
+    "Pick up the red-capped bottle and shake it well.",
+    "Use the right arm to grab the bottle with white neck and red top and shake properly.",
+    "Shake the red-capped bottle using the right arm after grabbing.",
+    "Utilize the right arm to hold the bottle with ridges on bottom and shake it.",
+    "Secure the medium dark brown bottle, shake it, and place it down.",
+    "Using the right arm, shake the brown bottle with red label and then place it back.",
+    "Shake the smooth bottle with red lid after lifting it.",
+    "Pick the dark drink bottle with logo up using the right arm and shake it.",
+    "Hold the smooth bottle with red lid steady, then shake it.",
+    "Grab the bottle with white neck and red top and move it to shake.",
+    "Lift the Coca-Cola bottle with the right arm and shake it.",
+    "Shake the long thin bottle after holding it firmly.",
+    "Grab the dark drink bottle with logo with the right arm and shake.",
+    "Catch the narrow-necked bottle and shake it instantly.",
+    "Shake the narrow-necked bottle thoroughly after grabbing it.",
+    "Grasp the hand-sized soda bottle with the right arm and shake it.",
+    "Hold and shake the the long thin bottle carefully.",
+    "Lift the brown bottle with red label and shake it thoroughly.",
+    "Grab the hand-sized soda bottle firmly, shake it, and put it down.",
+    "Grab the long thin bottle carefully and shake.",
+    "Hold the Coca-Cola bottle, shake it briefly.",
+    "Hold the hand-sized soda bottle with the right arm and shake lightly.",
+    "Hold the smooth bottle with red lid and shake it properly.",
+    "Grab the brown bottle with red label using the right arm, then shake.",
+    "Use the right arm to grab the Coca-Cola bottle and shake it.",
+    "Shake the plastic drink bottle after grabbing it.",
+    "Shake the the dark drink bottle with logo properly after lifting.",
+    "Grip the hand-sized soda bottle using the right arm and shake.",
+    "Use the right arm to pick and shake the bottle with white neck and red top.",
+    "Pick up the bottle with ridges on bottom and shake it.",
+    "Grab and shake the bottle with white neck and red top using the right arm.",
+    "Shake the red-capped bottle after grabbing it.",
+    "With the right arm, pick the medium dark brown bottle and shake properly.",
+    "Lift the plastic drink bottle and shake it gently.",
+    "Lift the smooth bottle with red lid with the right arm and shake.",
+    "Shake the medium dark brown bottle firmly after grabbing.",
+    "Use the right arm to lift and shake the narrow-necked bottle.",
+    "Lift up the Coca-Cola bottle using the right arm, then shake.",
+    "Use the right arm to lift and shake the narrow-necked bottle.",
+    "Pick the medium dark brown bottle, shake it with the right arm.",
+    "Take the dark drink bottle with logo using the right arm and give it a shake.",
+    "Secure the red-capped bottle and perform a shake.",
+    "Use the right arm to hold the long thin bottle and shake it.",
+    "Grab the bottle with ridges on bottom and shake it steadily.",
+    "Shake the narrow-necked bottle after grabbing it.",
+    "Pick the red-capped bottle and perform shaking motion.",
+    "Grab the Coca-Cola bottle and give it a shake.",
+    "Pick the brown bottle with red label up with the right arm and shake.",
+    "Lift the red-capped bottle with the right arm and give it a shake.",
+    "Use the right arm to lift and shake the bottle with white neck and red top.",
+    "Pick up the hand-sized soda bottle and shake it well.",
+    "Use the right arm to grab the red-capped bottle and shake properly.",
+    "Shake the red-capped bottle using the right arm after grabbing.",
+    "Utilize the right arm to hold the Coca-Cola bottle and shake it.",
+    "Secure the medium dark brown bottle, shake it, and place it down.",
+    "Using the right arm, shake the dark drink bottle with logo and then place it back.",
+    "Shake the dark drink bottle with logo after lifting it.",
+    "Pick the narrow-necked bottle up using the right arm and shake it."
+  ],
+  "unseen": [
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Grab the bottle with red screw cap and give it a shake.",
+    "Pick up the bottle with red screw cap with the right arm and shake.",
+    "Use the right arm to grab the bottle with red screw cap and shake.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Shake the plastic soda bottle after picking it with the right arm.",
+    "Pick and shake the the plastic soda bottle with the right arm.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Use the right arm to pick the bottle with red screw cap.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Pick up the bottle with red screw cap with the right arm and shake.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Pick and shake the the plastic soda bottle with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the brown bottle and shake it.",
+    "Use the right arm to pick the bottle with red screw cap.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick up the plastic soda bottle with the right arm and shake.",
+    "Use the right arm to grab the plastic soda bottle and shake.",
+    "Pick up the brown bottle and shake it.",
+    "Shake the bottle with red screw cap after picking it with the right arm.",
+    "Pick and shake the the plastic soda bottle with the right arm.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Grab the brown bottle and shake it.",
+    "Use the right arm to pick the bottle with red screw cap.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Grab the bottle with red screw cap and give it a shake.",
+    "Pick up the bottle with red screw cap with the right arm and shake.",
+    "Use the right arm to grab the bottle with red screw cap and shake.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Shake the plastic soda bottle after picking it with the right arm.",
+    "Pick and shake the the bottle with red screw cap with the right arm.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Grab the plastic soda bottle and shake it.",
+    "Use the right arm to pick the bottle with red screw cap.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Use the right arm to grab the bottle with red screw cap and shake.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Grab the brown bottle and shake it.",
+    "Use the right arm to pick the bottle with red screw cap.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Pick up the plastic soda bottle with the right arm and shake.",
+    "Use the right arm to grab the plastic soda bottle and shake.",
+    "Pick up the brown bottle and shake it.",
+    "Shake the bottle with red screw cap after picking it with the right arm.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Use the right arm to pick the brown bottle.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Grab the brown bottle and give it a shake.",
+    "Pick up the bottle with red screw cap with the right arm and shake.",
+    "Use the right arm to grab the plastic soda bottle and shake.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Use the right arm to pick the brown bottle.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Pick up the bottle with red screw cap with the right arm and shake.",
+    "Use the right arm to grab the bottle with red screw cap and shake.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Pick and shake the the plastic soda bottle with the right arm.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Grab the brown bottle and shake it.",
+    "Use the right arm to pick the brown bottle.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Pick up the plastic soda bottle with the right arm and shake.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the brown bottle and shake it.",
+    "Use the right arm to pick the plastic soda bottle.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Grab the bottle with red screw cap and give it a shake.",
+    "Pick up the bottle with red screw cap with the right arm and shake.",
+    "Use the right arm to grab the plastic soda bottle and shake.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Shake the plastic soda bottle after picking it with the right arm.",
+    "Pick and shake the the plastic soda bottle with the right arm.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Use the right arm to pick the brown bottle."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006268.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006268.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc81b30c47c636cb90f0d390383e70dc1ccdcc21
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006268.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the plastic bottle with printed label with the left arm and give it a shake.",
+    "Pick the medium bottle with smooth texture up using the left arm and shake it.",
+    "Secure the cylindrical bottle with narrow neck, shake it, and place it down.",
+    "Catch the smooth brown bottle and shake it instantly.",
+    "Shake the the bottle with dark brown color properly after lifting.",
+    "Secure the medium bottle with smooth texture and perform a shake.",
+    "Use the left arm to grab the plastic bottle with printed label and shake it.",
+    "Hold the plastic bottle for liquids steady, then shake it.",
+    "Lift the rounded bottle with printed details and shake it gently.",
+    "Grab the bottle with brown body and white top and give it a shake.",
+    "Hold the bottle with dark brown color and shake it properly.",
+    "Hold the cylindrical bottle with narrow neck with the left arm and shake lightly.",
+    "Use the left arm to grab the handheld brown bottle with white lid and shake properly.",
+    "Use the left arm to pick and shake the handheld brown bottle with white lid.",
+    "Utilize the left arm to hold the medium bottle with smooth texture and shake it.",
+    "Pick up the plastic bottle with printed label and shake it well.",
+    "Grab the plastic bottle with printed label using the left arm, then shake.",
+    "Take the plastic bottle for liquids using the left arm and give it a shake.",
+    "Lift up the smooth brown bottle using the left arm, then shake.",
+    "Lift the white-capped brown cylindrical bottle with the left arm and shake.",
+    "Shake the cylindrical bottle with narrow neck after grabbing it.",
+    "Grab the plastic bottle with printed label and shake it steadily.",
+    "Pick the rounded bottle with printed details and perform shaking motion.",
+    "Shake the rounded bottle with printed details after grabbing it.",
+    "Pick up the smooth brown bottle and shake it.",
+    "Grab the bottle with white cap carefully and shake.",
+    "Use the left arm to lift and shake the cylindrical bottle with narrow neck.",
+    "Grab the white-capped brown cylindrical bottle firmly, shake it, and put it down.",
+    "Use the left arm to hold the medium bottle with smooth texture and shake it.",
+    "Lift the rounded bottle with printed details and shake it thoroughly.",
+    "Use the left arm to lift and shake the bottle with white cap.",
+    "Grab and shake the rounded bottle with printed details using the left arm.",
+    "Shake the medium plastic bottle after lifting it.",
+    "Pick the medium bottle with smooth texture, shake it with the left arm.",
+    "Lift the bottle with brown body and white top with the left arm and shake it.",
+    "Grab the medium plastic bottle and move it to shake.",
+    "Shake the bottle with white cap firmly after grabbing.",
+    "With the left arm, pick the handheld brown bottle with white lid and shake properly.",
+    "Grab the handheld brown bottle with white lid with the left arm and shake.",
+    "Use the left arm to lift and shake the white-capped brown cylindrical bottle.",
+    "Hold the plastic bottle for liquids, shake it briefly.",
+    "Using the left arm, shake the plastic bottle with printed label and then place it back.",
+    "Pick the rounded bottle with printed details up with the left arm and shake.",
+    "Grip the white-capped brown cylindrical bottle using the left arm and shake.",
+    "Shake the smooth brown bottle thoroughly after grabbing it.",
+    "Grasp the plastic bottle for liquids with the left arm and shake it.",
+    "Shake the bottle with white cap after holding it firmly.",
+    "Shake the bottle with brown body and white top using the left arm after grabbing.",
+    "Shake the white-capped brown cylindrical bottle after grabbing it.",
+    "Hold and shake the the plastic bottle with printed label carefully.",
+    "Lift the plastic bottle for liquids with the left arm and give it a shake.",
+    "Pick the cylindrical bottle with narrow neck up using the left arm and shake it.",
+    "Secure the plastic bottle for liquids, shake it, and place it down.",
+    "Catch the bottle with dark brown color and shake it instantly.",
+    "Shake the the medium plastic bottle properly after lifting.",
+    "Secure the plastic bottle with printed label and perform a shake.",
+    "Use the left arm to grab the bottle with white cap and shake it.",
+    "Hold the plastic bottle for liquids steady, then shake it.",
+    "Lift the medium bottle with smooth texture and shake it gently.",
+    "Grab the medium bottle with smooth texture and give it a shake.",
+    "Hold the plastic bottle with printed label and shake it properly.",
+    "Hold the plastic bottle for liquids with the left arm and shake lightly.",
+    "Use the left arm to grab the cylindrical bottle with narrow neck and shake properly.",
+    "Use the left arm to pick and shake the medium bottle with smooth texture.",
+    "Utilize the left arm to hold the medium bottle with smooth texture and shake it.",
+    "Pick up the plastic bottle with printed label and shake it well.",
+    "Grab the medium plastic bottle using the left arm, then shake.",
+    "Take the medium plastic bottle using the left arm and give it a shake.",
+    "Lift up the rounded bottle with printed details using the left arm, then shake.",
+    "Lift the handheld brown bottle with white lid with the left arm and shake.",
+    "Shake the rounded bottle with printed details after grabbing it.",
+    "Grab the bottle with brown body and white top and shake it steadily.",
+    "Pick the plastic bottle with printed label and perform shaking motion.",
+    "Shake the smooth brown bottle after grabbing it.",
+    "Pick up the plastic bottle with printed label and shake it.",
+    "Grab the medium plastic bottle carefully and shake.",
+    "Use the left arm to lift and shake the bottle with white cap.",
+    "Grab the bottle with brown body and white top firmly, shake it, and put it down.",
+    "Use the left arm to hold the cylindrical bottle with narrow neck and shake it.",
+    "Lift the white-capped brown cylindrical bottle and shake it thoroughly.",
+    "Use the left arm to lift and shake the plastic bottle with printed label.",
+    "Grab and shake the handheld brown bottle with white lid using the left arm.",
+    "Shake the medium bottle with smooth texture after lifting it.",
+    "Pick the rounded bottle with printed details, shake it with the left arm.",
+    "Lift the bottle with dark brown color with the left arm and shake it.",
+    "Grab the medium plastic bottle and move it to shake.",
+    "Shake the bottle with white cap firmly after grabbing.",
+    "With the left arm, pick the cylindrical bottle with narrow neck and shake properly.",
+    "Grab the medium plastic bottle with the left arm and shake.",
+    "Use the left arm to lift and shake the rounded bottle with printed details.",
+    "Hold the plastic bottle for liquids, shake it briefly.",
+    "Using the left arm, shake the medium bottle with smooth texture and then place it back.",
+    "Pick the plastic bottle for liquids up with the left arm and shake.",
+    "Grip the bottle with brown body and white top using the left arm and shake.",
+    "Shake the plastic bottle with printed label thoroughly after grabbing it.",
+    "Grasp the bottle with dark brown color with the left arm and shake it.",
+    "Shake the medium plastic bottle after holding it firmly.",
+    "Shake the white-capped brown cylindrical bottle using the left arm after grabbing.",
+    "Shake the medium plastic bottle after grabbing it.",
+    "Hold and shake the the smooth brown bottle carefully."
+  ],
+  "unseen": [
+    "Use the left arm to pick the lightweight plastic brown bottle.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Grab the brown bottle and shake it.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the brown bottle and give it a shake.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Pick up the lightweight plastic brown bottle with the left arm and shake.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Shake the brown cylindrical bottle with label after picking it with the left arm.",
+    "Use the left arm to pick the lightweight plastic brown bottle.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Pick and shake the the lightweight plastic brown bottle with the left arm.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Pick up the lightweight plastic brown bottle with the left arm and shake.",
+    "Pick up the brown bottle and shake it.",
+    "Shake the brown bottle after picking it with the left arm.",
+    "Use the left arm to pick the brown bottle.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Pick and shake the the brown bottle 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.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Pick up the brown bottle with the left arm and shake.",
+    "Pick up the brown bottle and shake it.",
+    "Shake the brown bottle after picking it with the left arm.",
+    "Use the left arm to pick the brown cylindrical bottle with label.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Pick and shake the the brown cylindrical bottle with label with the left arm.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the brown bottle and give it a shake.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Pick up the brown cylindrical bottle with label with the left arm and shake.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Shake the brown bottle after picking it with the left arm.",
+    "Use the left arm to pick the brown cylindrical bottle with label.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Pick and shake the the brown cylindrical bottle with label 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.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Pick up the lightweight plastic brown bottle with the left arm and shake.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Shake the lightweight plastic brown bottle after picking it with the left arm.",
+    "Use the left arm to pick the brown bottle.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Pick and shake the the brown bottle 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.",
+    "Use the left arm to grab the lightweight plastic brown bottle and shake.",
+    "Pick up the lightweight plastic brown bottle with the left arm and shake.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Shake the lightweight plastic brown bottle after picking it with the left arm.",
+    "Use the left arm to pick the brown bottle.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Pick and shake the the lightweight plastic brown bottle with the left arm.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Pick up the brown cylindrical bottle with label with the left arm and shake.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Shake the lightweight plastic brown bottle after picking it with the left arm.",
+    "Use the left arm to pick the brown bottle.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Pick and shake the the brown bottle 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.",
+    "Use the left arm to grab the lightweight plastic brown bottle and shake.",
+    "Pick up the brown bottle with the left arm and shake.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Shake the brown cylindrical bottle with label after picking it with the left arm.",
+    "Use the left arm to pick the brown bottle.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Grab the brown bottle and shake it.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Use the left arm to grab the lightweight plastic brown bottle and shake.",
+    "Pick up the lightweight plastic brown bottle with the left arm and shake.",
+    "Pick up the brown bottle and shake it.",
+    "Shake the lightweight plastic brown bottle after picking it with the left arm.",
+    "Use the left arm to pick the lightweight plastic brown bottle.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Pick and shake the the brown bottle 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.",
+    "Use the left arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick up the lightweight plastic brown bottle with the left arm and shake.",
+    "Pick up the brown bottle and shake it.",
+    "Shake the lightweight plastic brown bottle after picking it with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006361.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006361.json
new file mode 100644
index 0000000000000000000000000000000000000000..953caa30e567cdf08d192a8b172d187032f40f16
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10006361.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "With the left arm, pick the medium black bottle with printed label and shake properly.",
+    "Use the left arm to lift and shake the black cylindrical bottle with ridges.",
+    "Grasp the yellow-capped cylindrical bottle with the left arm and shake it.",
+    "Shake the the smooth black bottle with ridges properly after lifting.",
+    "Grab the bottle with blue and yellow print and give it a shake.",
+    "Shake the beverage bottle with black body after grabbing it.",
+    "Use the left arm to grab the medium bottle with yellow cap and shake it.",
+    "Grab the black bottle using the left arm, then shake.",
+    "Shake the bottle with blue and yellow print after holding it firmly.",
+    "Hold the yellow capped drink bottle steady, then shake it.",
+    "Use the left arm to lift and shake the drink bottle with rounded yellow lid.",
+    "Take the beverage bottle with black body using the left arm and give it a shake.",
+    "Catch the plastic bottle with colorful label and shake it instantly.",
+    "Hold and shake the the black bottle carefully.",
+    "Grab the medium bottle with yellow cap carefully and shake.",
+    "Using the left arm, shake the black bottle and then place it back.",
+    "Use the left arm to pick and shake the plastic bottle with colorful label.",
+    "Lift the black plastic bottle with Pepsi logo with the left arm and give it a shake.",
+    "Lift the bottle with blue and yellow print with the left arm and shake.",
+    "Pick up the black plastic bottle with Pepsi logo and shake it.",
+    "Shake the bottle with blue and yellow print thoroughly after grabbing it.",
+    "Grip the yellow-capped cylindrical bottle using the left arm and shake.",
+    "Grab the plastic bottle with colorful label with the left arm and shake.",
+    "Use the left arm to hold the yellow-capped cylindrical bottle and shake it.",
+    "Shake the drink bottle with rounded yellow lid after grabbing it.",
+    "Shake the black bottle after grabbing it.",
+    "Hold the smooth black bottle with ridges, shake it briefly.",
+    "Utilize the left arm to hold the yellow-capped cylindrical bottle and shake it.",
+    "Secure the bottle with blue and yellow print, shake it, and place it down.",
+    "Grab and shake the beverage bottle with black body using the left arm.",
+    "Pick the beverage bottle with black body and perform shaking motion.",
+    "Lift the smooth black bottle with ridges with the left arm and shake it.",
+    "Lift the smooth black bottle with ridges and shake it thoroughly.",
+    "Pick the bottle with blue and yellow print, shake it with the left arm.",
+    "Hold the smooth black bottle with ridges with the left arm and shake lightly.",
+    "Hold the bottle with blue and yellow print and shake it properly.",
+    "Lift up the yellow-capped cylindrical bottle using the left arm, then shake.",
+    "Use the left arm to lift and shake the beverage bottle with black body.",
+    "Shake the bottle with blue and yellow print firmly after grabbing.",
+    "Lift the black bottle and shake it gently.",
+    "Pick the medium bottle with yellow cap up with the left arm and shake.",
+    "Pick up the yellow capped drink bottle and shake it well.",
+    "Grab the medium bottle with yellow cap and shake it steadily.",
+    "Shake the medium bottle with yellow cap after lifting it.",
+    "Use the left arm to grab the black plastic bottle with Pepsi logo and shake properly.",
+    "Pick the black plastic bottle with Pepsi logo up using the left arm and shake it.",
+    "Shake the smooth black bottle with ridges using the left arm after grabbing.",
+    "Grab the beverage bottle with black body and move it to shake.",
+    "Secure the smooth black bottle with ridges and perform a shake.",
+    "Grab the medium black bottle with printed label firmly, shake it, and put it down.",
+    "With the left arm, pick the bottle with blue and yellow print and shake properly.",
+    "Use the left arm to lift and shake the black bottle.",
+    "Grasp the drink bottle with rounded yellow lid with the left arm and shake it.",
+    "Shake the the drink bottle with rounded yellow lid properly after lifting.",
+    "Grab the bottle with blue and yellow print and give it a shake.",
+    "Shake the beverage bottle with black body after grabbing it.",
+    "Use the left arm to grab the yellow-capped cylindrical bottle and shake it.",
+    "Grab the beverage bottle with black body using the left arm, then shake.",
+    "Shake the drink bottle with rounded yellow lid after holding it firmly.",
+    "Hold the yellow-capped cylindrical bottle steady, then shake it.",
+    "Use the left arm to lift and shake the bottle with blue and yellow print.",
+    "Take the yellow-capped cylindrical bottle using the left arm and give it a shake.",
+    "Catch the medium black bottle with printed label and shake it instantly.",
+    "Hold and shake the the beverage bottle with black body carefully.",
+    "Grab the black plastic bottle with Pepsi logo carefully and shake.",
+    "Using the left arm, shake the black cylindrical bottle with ridges and then place it back.",
+    "Use the left arm to pick and shake the plastic bottle with colorful label.",
+    "Lift the yellow-capped cylindrical bottle with the left arm and give it a shake.",
+    "Lift the drink bottle with rounded yellow lid with the left arm and shake.",
+    "Pick up the black plastic bottle with Pepsi logo and shake it.",
+    "Shake the black cylindrical bottle with ridges thoroughly after grabbing it.",
+    "Grip the medium bottle with yellow cap using the left arm and shake.",
+    "Grab the drink bottle with rounded yellow lid with the left arm and shake.",
+    "Use the left arm to hold the black bottle and shake it.",
+    "Shake the yellow capped drink bottle after grabbing it.",
+    "Shake the black bottle after grabbing it.",
+    "Hold the black plastic bottle with Pepsi logo, shake it briefly.",
+    "Utilize the left arm to hold the bottle with blue and yellow print and shake it.",
+    "Secure the smooth black bottle with ridges, shake it, and place it down.",
+    "Grab and shake the smooth black bottle with ridges using the left arm.",
+    "Pick the black bottle and perform shaking motion.",
+    "Lift the bottle with blue and yellow print with the left arm and shake it.",
+    "Lift the yellow-capped cylindrical bottle and shake it thoroughly.",
+    "Pick the smooth black bottle with ridges, shake it with the left arm.",
+    "Hold the medium bottle with yellow cap with the left arm and shake lightly.",
+    "Hold the yellow-capped cylindrical bottle and shake it properly.",
+    "Lift up the black cylindrical bottle with ridges using the left arm, then shake.",
+    "Use the left arm to lift and shake the drink bottle with rounded yellow lid.",
+    "Shake the bottle with blue and yellow print firmly after grabbing.",
+    "Lift the black plastic bottle with Pepsi logo and shake it gently.",
+    "Pick the plastic bottle with colorful label up with the left arm and shake.",
+    "Pick up the plastic bottle with colorful label and shake it well.",
+    "Grab the black cylindrical bottle with ridges and shake it steadily.",
+    "Shake the black bottle after lifting it.",
+    "Use the left arm to grab the black bottle and shake properly.",
+    "Pick the smooth black bottle with ridges up using the left arm and shake it.",
+    "Shake the black bottle using the left arm after grabbing.",
+    "Grab the drink bottle with rounded yellow lid and move it to shake.",
+    "Secure the black cylindrical bottle with ridges and perform a shake.",
+    "Grab the medium bottle with yellow cap firmly, shake it, and put it down."
+  ],
+  "unseen": [
+    "Use the left arm to grab the plastic bottle with blue label and shake.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Pick and shake the the plastic bottle with blue label with the left arm.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Use the left arm to pick the hand-sized bottle with ridged bottom.",
+    "Pick up the plastic bottle with blue label with the left arm and shake.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Use the left arm to grab the bottle with ridges near base and shake.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Pick and shake the the bottle with ridges near base with the left arm.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Use the left arm to pick the hand-sized bottle with ridged bottom.",
+    "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.",
+    "Shake the plastic bottle with blue label after picking it with the left arm.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Use the left arm to grab the bottle with ridges near base and shake.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Use the left arm to pick the plastic bottle with blue label.",
+    "Pick up the plastic bottle with blue label with the left arm and shake.",
+    "Shake the plastic bottle with blue label after picking it with the left arm.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Pick and shake the the plastic bottle with blue label with the left arm.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Use the left arm to pick the hand-sized bottle with ridged bottom.",
+    "Pick up the plastic bottle with blue label with the left arm and shake.",
+    "Shake the plastic bottle with blue label after picking it with the left arm.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the left arm to grab the plastic bottle with blue label and shake.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Pick and shake the the plastic bottle with blue label with the left arm.",
+    "Grab the plastic bottle with blue label and give it a shake.",
+    "Use the left arm to pick the bottle with ridges near base.",
+    "Pick up the plastic bottle with blue label with the left arm and shake.",
+    "Shake the bottle with ridges near base after picking it with the left arm.",
+    "Grab the bottle with ridges near base and shake it.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Use the left arm to grab the plastic bottle with blue label and shake.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Use the left arm to pick the bottle with ridges near base.",
+    "Pick up the plastic bottle with blue label with the left arm and shake.",
+    "Shake the hand-sized bottle with ridged bottom after picking it with the left arm.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Pick and shake the the plastic bottle with blue label with the left arm.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Use the left arm to pick the bottle with ridges near base.",
+    "Pick up the bottle with ridges near base with the left arm and shake.",
+    "Shake the bottle with ridges near base after picking it with the left arm.",
+    "Grab the hand-sized bottle with ridged bottom and shake it.",
+    "Grab the hand-sized bottle with ridged bottom, shake it properly, then set it down.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the left arm to grab the hand-sized bottle with ridged bottom and shake.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Use the left arm to pick the hand-sized bottle with ridged bottom.",
+    "Pick up the bottle with ridges near base with the left arm and shake.",
+    "Shake the bottle with ridges near base after picking it with the left arm.",
+    "Grab the plastic bottle with blue label and shake it.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Pick up the plastic bottle with blue label and shake it.",
+    "Use the left arm to grab the plastic bottle with blue label and shake.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.",
+    "Grab the bottle with ridges near base and give it a shake.",
+    "Use the left arm to pick the bottle with ridges near base.",
+    "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.",
+    "Shake the plastic bottle with blue label after picking it with the left arm.",
+    "Grab the bottle with ridges near base and shake it.",
+    "Grab the bottle with ridges near base, shake it properly, then set it down.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Use the left arm to grab the bottle with ridges near base and shake.",
+    "Pick up the bottle with ridges near base and shake it.",
+    "Pick and shake the the hand-sized bottle with ridged bottom with the left arm.",
+    "Grab the hand-sized bottle with ridged bottom and give it a shake.",
+    "Use the left arm to pick the bottle with ridges near base.",
+    "Pick up the hand-sized bottle with ridged bottom with the left arm and shake.",
+    "Shake the bottle with ridges near base after picking it with the left arm.",
+    "Grab the bottle with ridges near base and shake it.",
+    "Grab the plastic bottle with blue label, shake it properly, then set it down.",
+    "Pick up the hand-sized bottle with ridged bottom and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007013.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007013.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b6a58bee14e2ff7da64e0b70a554b2fb081641d
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007013.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the right arm, shake the bottle with white neck and red top and then place it back.",
+    "Shake the red-capped bottle after holding it firmly.",
+    "Pick the bottle with ridges on bottom and perform shaking motion.",
+    "Take the hand-sized soda bottle using the right arm and give it a shake.",
+    "Shake the plastic drink bottle after grabbing it.",
+    "Grab the bottle with ridges on bottom firmly, shake it, and put it down.",
+    "Grab the plastic drink bottle and move it to shake.",
+    "Grab the brown bottle with red label carefully and shake.",
+    "Shake the Coca-Cola bottle after grabbing it.",
+    "Hold the narrow-necked bottle with the right arm and shake lightly.",
+    "Use the right arm to grab the smooth bottle with red lid and shake properly.",
+    "Hold the smooth bottle with red lid steady, then shake it.",
+    "Lift the bottle with white neck and red top with the right arm and shake.",
+    "Use the right arm to lift and shake the medium dark brown bottle.",
+    "Pick the long thin bottle up using the right arm and shake it.",
+    "Shake the medium dark brown bottle thoroughly after grabbing it.",
+    "Lift the medium dark brown bottle with the right arm and shake it.",
+    "Pick the plastic drink bottle, shake it with the right arm.",
+    "With the right arm, pick the brown bottle with red label and shake properly.",
+    "Use the right arm to lift and shake the smooth bottle with red lid.",
+    "Use the right arm to hold the hand-sized soda bottle and shake it.",
+    "Use the right arm to lift and shake the medium dark brown bottle.",
+    "Use the right arm to grab the bottle with white neck and red top and shake it.",
+    "Grab and shake the plastic drink bottle using the right arm.",
+    "Shake the brown bottle with red label after grabbing it.",
+    "Grip the hand-sized soda bottle using the right arm and shake.",
+    "Grab the long thin bottle and give it a shake.",
+    "Shake the the long thin bottle properly after lifting.",
+    "Pick up the bottle with ridges on bottom and shake it well.",
+    "Hold the medium dark brown bottle and shake it properly.",
+    "Hold and shake the the hand-sized soda bottle carefully.",
+    "Pick up the narrow-necked bottle and shake it.",
+    "Lift the Coca-Cola bottle and shake it thoroughly.",
+    "Lift up the Coca-Cola bottle using the right arm, then shake.",
+    "Grasp the long thin bottle with the right arm and shake it.",
+    "Grab the red-capped bottle with the right arm and shake.",
+    "Grab the red-capped bottle using the right arm, then shake.",
+    "Secure the red-capped bottle, shake it, and place it down.",
+    "Use the right arm to pick and shake the plastic drink bottle.",
+    "Hold the long thin bottle, shake it briefly.",
+    "Utilize the right arm to hold the hand-sized soda bottle and shake it.",
+    "Shake the red-capped bottle firmly after grabbing.",
+    "Pick the hand-sized soda bottle up with the right arm and shake.",
+    "Catch the bottle with ridges on bottom and shake it instantly.",
+    "Shake the plastic drink bottle after lifting it.",
+    "Lift the dark drink bottle with logo and shake it gently.",
+    "Secure the medium dark brown bottle and perform a shake.",
+    "Grab the long thin bottle and shake it steadily.",
+    "Shake the Coca-Cola bottle using the right arm after grabbing.",
+    "Lift the smooth bottle with red lid with the right arm and give it a shake.",
+    "Using the right arm, shake the bottle with ridges on bottom and then place it back.",
+    "Shake the bottle with white neck and red top after holding it firmly.",
+    "Pick the narrow-necked bottle and perform shaking motion.",
+    "Take the brown bottle with red label using the right arm and give it a shake.",
+    "Shake the bottle with ridges on bottom after grabbing it.",
+    "Grab the hand-sized soda bottle firmly, shake it, and put it down.",
+    "Grab the narrow-necked bottle and move it to shake.",
+    "Grab the narrow-necked bottle carefully and shake.",
+    "Shake the narrow-necked bottle after grabbing it.",
+    "Hold the medium dark brown bottle with the right arm and shake lightly.",
+    "Use the right arm to grab the bottle with ridges on bottom and shake properly.",
+    "Hold the plastic drink bottle steady, then shake it.",
+    "Lift the dark drink bottle with logo with the right arm and shake.",
+    "Use the right arm to lift and shake the dark drink bottle with logo.",
+    "Pick the hand-sized soda bottle up using the right arm and shake it.",
+    "Shake the long thin bottle thoroughly after grabbing it.",
+    "Lift the bottle with ridges on bottom with the right arm and shake it.",
+    "Pick the Coca-Cola bottle, shake it with the right arm.",
+    "With the right arm, pick the bottle with white neck and red top and shake properly.",
+    "Use the right arm to lift and shake the bottle with ridges on bottom.",
+    "Use the right arm to hold the bottle with ridges on bottom and shake it.",
+    "Use the right arm to lift and shake the dark drink bottle with logo.",
+    "Use the right arm to grab the smooth bottle with red lid and shake it.",
+    "Grab and shake the hand-sized soda bottle using the right arm.",
+    "Shake the long thin bottle after grabbing it.",
+    "Grip the bottle with ridges on bottom using the right arm and shake.",
+    "Grab the Coca-Cola bottle and give it a shake.",
+    "Shake the the red-capped bottle properly after lifting.",
+    "Pick up the dark drink bottle with logo and shake it well.",
+    "Hold the bottle with white neck and red top and shake it properly.",
+    "Hold and shake the the hand-sized soda bottle carefully.",
+    "Pick up the brown bottle with red label and shake it.",
+    "Lift the hand-sized soda bottle and shake it thoroughly.",
+    "Lift up the bottle with ridges on bottom using the right arm, then shake.",
+    "Grasp the bottle with ridges on bottom with the right arm and shake it.",
+    "Grab the smooth bottle with red lid with the right arm and shake.",
+    "Grab the Coca-Cola bottle using the right arm, then shake.",
+    "Secure the medium dark brown bottle, shake it, and place it down.",
+    "Use the right arm to pick and shake the brown bottle with red label.",
+    "Hold the hand-sized soda bottle, shake it briefly.",
+    "Utilize the right arm to hold the brown bottle with red label and shake it.",
+    "Shake the hand-sized soda bottle firmly after grabbing.",
+    "Pick the smooth bottle with red lid up with the right arm and shake.",
+    "Catch the medium dark brown bottle and shake it instantly.",
+    "Shake the smooth bottle with red lid after lifting it.",
+    "Lift the bottle with ridges on bottom and shake it gently.",
+    "Secure the hand-sized soda bottle and perform a shake.",
+    "Grab the smooth bottle with red lid and shake it steadily.",
+    "Shake the smooth bottle with red lid using the right arm after grabbing.",
+    "Lift the bottle with white neck and red top with the right arm and give it a shake."
+  ],
+  "unseen": [
+    "Pick up the bottle with red screw cap and shake it.",
+    "Pick up the bottle with red screw cap with the right arm and shake.",
+    "Pick and shake the the brown bottle with the right arm.",
+    "Use the right arm to pick the brown bottle.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Shake the plastic soda bottle after picking it with the right arm.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "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 bottle with red screw cap with the right arm and shake.",
+    "Pick and shake the the plastic soda bottle with the right arm.",
+    "Use the right arm to pick the brown bottle.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Shake the bottle with red screw cap after picking it with the right arm.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Use the right arm to grab the plastic soda bottle and shake.",
+    "Grab the brown bottle and shake it.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Pick up the brown bottle and shake it.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Pick and shake the the bottle with red screw cap with the right arm.",
+    "Use the right arm to pick the brown bottle.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Use the right arm to grab the plastic soda bottle and shake.",
+    "Grab the brown bottle 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 with the right arm and shake.",
+    "Pick and shake the the bottle with red screw cap with the right arm.",
+    "Use the right arm to pick the bottle with red screw cap.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Shake the bottle with red screw cap after picking it with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "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 bottle with red screw cap and shake it.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Pick and shake the the bottle with red screw cap with the right arm.",
+    "Use the right arm to pick the plastic soda bottle.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Shake the bottle with red screw cap after picking it with the right arm.",
+    "Pick up the plastic soda bottle and shake it.",
+    "Use the right arm to grab the plastic soda bottle and shake.",
+    "Grab the brown bottle 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 with the right arm and shake.",
+    "Pick and shake the the bottle with red screw cap with the right arm.",
+    "Use the right arm to pick the plastic soda bottle.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Shake the bottle with red screw cap after picking it with the right arm.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Grab the bottle with red screw cap and shake it.",
+    "Grab the plastic soda bottle and give it a shake.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Pick up the brown bottle with the right arm and shake.",
+    "Pick and shake the the plastic soda bottle with the right arm.",
+    "Use the right arm to pick the plastic soda bottle.",
+    "Grab the bottle with red screw cap, shake it properly, then set it down.",
+    "Shake the brown bottle after picking it with the right arm.",
+    "Pick up the brown bottle and shake it.",
+    "Use the right arm to grab the bottle with red screw cap and shake.",
+    "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 with the right arm and shake.",
+    "Pick and shake the the plastic soda bottle with the right arm.",
+    "Use the right arm to pick the plastic soda bottle.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Shake the bottle with red screw cap after picking it with the right arm.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Use the right arm to grab the plastic soda bottle and shake.",
+    "Grab the plastic soda bottle 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 with the right arm and shake.",
+    "Pick and shake the the bottle with red screw cap with the right arm.",
+    "Use the right arm to pick the bottle with red screw cap.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Shake the bottle with red screw cap after picking it with the right arm.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "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 with the right arm and shake.",
+    "Pick and shake the the bottle with red screw cap with the right arm.",
+    "Use the right arm to pick the plastic soda bottle.",
+    "Grab the plastic soda bottle, shake it properly, then set it down.",
+    "Shake the plastic soda bottle after picking it with the right arm.",
+    "Pick up the bottle with red screw cap and shake it.",
+    "Use the right arm to grab the brown bottle and shake.",
+    "Grab the plastic soda bottle and shake it.",
+    "Grab the brown bottle and give it a shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007019.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007019.json
new file mode 100644
index 0000000000000000000000000000000000000000..3744ebbf07c7a08b49ec38c23327bcd0c3ffeed8
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007019.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the yellow plastic bottle with white top and shake it thoroughly.",
+    "Catch the smooth bottle with rounded edges and shake it instantly.",
+    "Hold the medium rectangular yellow bottle and shake it properly.",
+    "Pick the plastic bottle and perform shaking motion.",
+    "Lift the yellow bottle with a green design with the left arm and give it a shake.",
+    "Hold the bottle with green and white labels with the left arm and shake lightly.",
+    "Pick up the yellow bottle and shake it.",
+    "Grab the rectangular bottle with cylindrical neck using the left arm, then shake.",
+    "Lift the yellow bottle with a green design with the left arm and shake it.",
+    "Utilize the left arm to hold the bottle with green and white labels and shake it.",
+    "Hold and shake the the rectangular bottle with cylindrical neck carefully.",
+    "Shake the bottle with white cap after lifting it.",
+    "Shake the bottle with green and white labels after holding it firmly.",
+    "Pick the bottle with white cap up with the left arm and shake.",
+    "Grasp the yellow bottle with a green design with the left arm and shake it.",
+    "Use the left arm to grab the yellow plastic bottle with white top and shake it.",
+    "Use the left arm to hold the yellow container with rounded edges and shake it.",
+    "Pick the bottle with a smooth plastic body, shake it with the left arm.",
+    "Hold the yellow container with rounded edges, shake it briefly.",
+    "Use the left arm to grab the smooth bottle with rounded edges and shake properly.",
+    "Shake the rectangular bottle with cylindrical neck after grabbing it.",
+    "Pick the yellow container with rounded edges up using the left arm and shake it.",
+    "Use the left arm to lift and shake the bottle with white cap.",
+    "Pick up the medium rectangular yellow bottle and shake it well.",
+    "Hold the plastic bottle steady, then shake it.",
+    "Lift the bottle with white cap and shake it gently.",
+    "Grab the bottle with white cap firmly, shake it, and put it down.",
+    "Use the left arm to lift and shake the rectangular bottle with cylindrical neck.",
+    "Shake the medium rectangular yellow bottle firmly after grabbing.",
+    "Shake the bottle with white cap after grabbing it.",
+    "Shake the the bottle with green label properly after lifting.",
+    "Lift up the plastic bottle using the left arm, then shake.",
+    "Use the left arm to pick and shake the bottle with green and white labels.",
+    "Grab the plastic bottle carefully and shake.",
+    "Shake the bottle with white cap thoroughly after grabbing it.",
+    "Grip the medium rectangular yellow bottle using the left arm and shake.",
+    "Use the left arm to lift and shake the rectangular bottle with cylindrical neck.",
+    "Lift the plastic bottle with the left arm and shake.",
+    "Using the left arm, shake the yellow container with rounded edges and then place it back.",
+    "Shake the bottle with a smooth plastic body after grabbing it.",
+    "Take the rectangular bottle with cylindrical neck using the left arm and give it a shake.",
+    "Secure the rectangular bottle with cylindrical neck, shake it, and place it down.",
+    "Grab the bottle with green and white labels with the left arm and shake.",
+    "Grab the bottle with green label and give it a shake.",
+    "Secure the smooth bottle with rounded edges and perform a shake.",
+    "Grab the yellow plastic bottle with white top and shake it steadily.",
+    "With the left arm, pick the yellow bottle with a green design and shake properly.",
+    "Grab and shake the smooth bottle with rounded edges using the left arm.",
+    "Shake the bottle with green and white labels using the left arm after grabbing.",
+    "Grab the yellow plastic bottle with white top and move it to shake.",
+    "Lift the rectangular bottle with cylindrical neck and shake it thoroughly.",
+    "Catch the bottle with green and white labels and shake it instantly.",
+    "Hold the rectangular bottle with cylindrical neck and shake it properly.",
+    "Pick the smooth bottle with rounded edges and perform shaking motion.",
+    "Lift the rectangular bottle with cylindrical neck with the left arm and give it a shake.",
+    "Hold the bottle with green label with the left arm and shake lightly.",
+    "Pick up the plastic bottle and shake it.",
+    "Grab the yellow bottle using the left arm, then shake.",
+    "Lift the bottle with white cap with the left arm and shake it.",
+    "Utilize the left arm to hold the yellow bottle and shake it.",
+    "Hold and shake the the yellow bottle with a green design carefully.",
+    "Shake the yellow bottle after lifting it.",
+    "Shake the yellow bottle after holding it firmly.",
+    "Pick the bottle with green label up with the left arm and shake.",
+    "Grasp the bottle with green label with the left arm and shake it.",
+    "Use the left arm to grab the plastic bottle and shake it.",
+    "Use the left arm to hold the medium rectangular yellow bottle and shake it.",
+    "Pick the medium rectangular yellow bottle, shake it with the left arm.",
+    "Hold the yellow bottle with a green design, shake it briefly.",
+    "Use the left arm to grab the yellow bottle and shake properly.",
+    "Shake the bottle with white cap after grabbing it.",
+    "Pick the rectangular bottle with cylindrical neck up using the left arm and shake it.",
+    "Use the left arm to lift and shake the bottle with a smooth plastic body.",
+    "Pick up the yellow plastic bottle with white top and shake it well.",
+    "Hold the plastic bottle steady, then shake it.",
+    "Lift the bottle with white cap and shake it gently.",
+    "Grab the plastic bottle firmly, shake it, and put it down.",
+    "Use the left arm to lift and shake the rectangular bottle with cylindrical neck.",
+    "Shake the yellow plastic bottle with white top firmly after grabbing.",
+    "Shake the bottle with green label after grabbing it.",
+    "Shake the the plastic bottle properly after lifting.",
+    "Lift up the yellow container with rounded edges using the left arm, then shake.",
+    "Use the left arm to pick and shake the bottle with a smooth plastic body.",
+    "Grab the yellow bottle with a green design carefully and shake.",
+    "Shake the yellow bottle with a green design thoroughly after grabbing it.",
+    "Grip the bottle with white cap using the left arm and shake.",
+    "Use the left arm to lift and shake the plastic bottle.",
+    "Lift the yellow container with rounded edges with the left arm and shake.",
+    "Using the left arm, shake the yellow bottle and then place it back.",
+    "Shake the bottle with a smooth plastic body after grabbing it.",
+    "Take the yellow container with rounded edges using the left arm and give it a shake.",
+    "Secure the bottle with a smooth plastic body, shake it, and place it down.",
+    "Grab the rectangular bottle with cylindrical neck with the left arm and shake.",
+    "Grab the bottle with green label and give it a shake.",
+    "Secure the bottle with green label and perform a shake.",
+    "Grab the yellow bottle and shake it steadily.",
+    "With the left arm, pick the rectangular bottle with cylindrical neck and shake properly.",
+    "Grab and shake the bottle with green and white labels using the left arm.",
+    "Shake the yellow plastic bottle with white top using the left arm after grabbing.",
+    "Grab the bottle with green label and move it to shake."
+  ],
+  "unseen": [
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Pick and shake the the yellow bottle for liquid storage with the left arm.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the left arm to pick the yellow bottle for liquid storage.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Pick up the yellow bottle for liquid storage with the left arm and shake.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Pick and shake the the yellow rectangular bottle with the left arm.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the left arm to pick the yellow bottle for liquid storage.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Pick up the yellow bottle for liquid storage with the left arm and shake.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Pick and shake the the yellow bottle for liquid storage with the left arm.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the left arm to pick the yellow bottle for liquid storage.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the left arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Pick up the yellow bottle for liquid storage with the left arm and shake.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Pick and shake the the yellow rectangular bottle with the left arm.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the left arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Pick up the yellow bottle for liquid storage with the left arm and shake.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Shake the yellow rectangular bottle after picking it with the left arm.",
+    "Pick and shake the the yellow bottle for liquid storage with the left arm.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Pick up the yellow bottle for liquid storage with the left arm and shake.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Pick and shake the the yellow rectangular bottle with the left arm.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the left arm to pick the yellow bottle for liquid storage.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the left arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Pick up the yellow bottle for liquid storage with the left arm and shake.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Pick and shake the the yellow rectangular bottle with the left arm.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the left arm to pick the hand-sized yellow plastic bottle.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the left arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Pick up the hand-sized yellow plastic bottle with the left arm and shake.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the left arm.",
+    "Pick and shake the the yellow rectangular bottle with the left arm.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the left arm to pick the yellow bottle for liquid storage.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Pick up the yellow rectangular bottle with the left arm and shake.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Pick and shake the the yellow bottle for liquid storage with the left arm.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the left arm to pick the yellow bottle for liquid storage.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the left arm to grab the hand-sized yellow plastic bottle and shake.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Pick up the yellow rectangular bottle with the left arm and shake.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Shake the yellow bottle for liquid storage after picking it with the left arm.",
+    "Pick and shake the the yellow rectangular bottle with the left arm.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the left arm to pick the yellow bottle for liquid storage.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the left arm to grab the yellow bottle for liquid storage and shake.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Pick up the yellow rectangular bottle with the left arm and shake.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007180.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007180.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce9e9b51fb99ebc1443d48afa29d7105991b8616
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007180.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to pick and shake the medium bottle with smooth texture.",
+    "Use the left arm to lift and shake the plastic bottle for liquids.",
+    "Lift the smooth brown bottle with the left arm and shake it.",
+    "With the left arm, pick the white-capped brown cylindrical bottle and shake properly.",
+    "Grab the bottle with brown body and white top carefully and shake.",
+    "Use the left arm to grab the bottle with brown body and white top and shake properly.",
+    "Grab the rounded bottle with printed details and shake it steadily.",
+    "Use the left arm to hold the medium plastic bottle and shake it.",
+    "Hold the cylindrical bottle with narrow neck with the left arm and shake lightly.",
+    "Grasp the bottle with white cap with the left arm and shake it.",
+    "Pick up the bottle with dark brown color and shake it well.",
+    "Shake the handheld brown bottle with white lid after lifting it.",
+    "Lift the bottle with dark brown color and shake it gently.",
+    "Shake the medium bottle with smooth texture thoroughly after grabbing it.",
+    "Shake the rounded bottle with printed details after grabbing it.",
+    "Grab and shake the cylindrical bottle with narrow neck using the left arm.",
+    "Grip the bottle with dark brown color using the left arm and shake.",
+    "Secure the handheld brown bottle with white lid and perform a shake.",
+    "Shake the rounded bottle with printed details firmly after grabbing.",
+    "Grab the handheld brown bottle with white lid and give it a shake.",
+    "Utilize the left arm to hold the smooth brown bottle and shake it.",
+    "Grab the white-capped brown cylindrical bottle with the left arm and shake.",
+    "Shake the the white-capped brown cylindrical bottle properly after lifting.",
+    "Lift the smooth brown bottle with the left arm and give it a shake.",
+    "Shake the smooth brown bottle using the left arm after grabbing.",
+    "Shake the bottle with brown body and white top after grabbing it.",
+    "Shake the plastic bottle with printed label after grabbing it.",
+    "Pick the handheld brown bottle with white lid up with the left arm and shake.",
+    "Pick the smooth brown bottle and perform shaking motion.",
+    "Use the left arm to lift and shake the medium plastic bottle.",
+    "Grab the cylindrical bottle with narrow neck and move it to shake.",
+    "Pick the bottle with white cap up using the left arm and shake it.",
+    "Shake the smooth brown bottle after holding it firmly.",
+    "Lift the bottle with white cap with the left arm and shake.",
+    "Lift the medium bottle with smooth texture and shake it thoroughly.",
+    "Secure the smooth brown bottle, shake it, and place it down.",
+    "Grab the medium plastic bottle firmly, shake it, and put it down.",
+    "Take the handheld brown bottle with white lid using the left arm and give it a shake.",
+    "Hold the plastic bottle with printed label steady, then shake it.",
+    "Using the left arm, shake the smooth brown bottle and then place it back.",
+    "Hold the bottle with brown body and white top, shake it briefly.",
+    "Catch the smooth brown bottle and shake it instantly.",
+    "Hold the medium bottle with smooth texture and shake it properly.",
+    "Grab the white-capped brown cylindrical bottle using the left arm, then shake.",
+    "Pick up the medium plastic bottle and shake it.",
+    "Use the left arm to grab the bottle with brown body and white top and shake it.",
+    "Lift up the medium plastic bottle using the left arm, then shake.",
+    "Pick the medium plastic bottle, shake it with the left arm.",
+    "Hold and shake the the plastic bottle with printed label carefully.",
+    "Use the left arm to lift and shake the rounded bottle with printed details.",
+    "Use the left arm to pick and shake the plastic bottle for liquids.",
+    "Use the left arm to lift and shake the medium bottle with smooth texture.",
+    "Lift the white-capped brown cylindrical bottle with the left arm and shake it.",
+    "With the left arm, pick the smooth brown bottle and shake properly.",
+    "Grab the smooth brown bottle carefully and shake.",
+    "Use the left arm to grab the bottle with dark brown color and shake properly.",
+    "Grab the bottle with brown body and white top and shake it steadily.",
+    "Use the left arm to hold the plastic bottle for liquids and shake it.",
+    "Hold the rounded bottle with printed details with the left arm and shake lightly.",
+    "Grasp the cylindrical bottle with narrow neck with the left arm and shake it.",
+    "Pick up the rounded bottle with printed details and shake it well.",
+    "Shake the bottle with brown body and white top after lifting it.",
+    "Lift the bottle with white cap and shake it gently.",
+    "Shake the white-capped brown cylindrical bottle thoroughly after grabbing it.",
+    "Shake the cylindrical bottle with narrow neck after grabbing it.",
+    "Grab and shake the white-capped brown cylindrical bottle using the left arm.",
+    "Grip the rounded bottle with printed details using the left arm and shake.",
+    "Secure the bottle with white cap and perform a shake.",
+    "Shake the rounded bottle with printed details firmly after grabbing.",
+    "Grab the handheld brown bottle with white lid and give it a shake.",
+    "Utilize the left arm to hold the rounded bottle with printed details and shake it.",
+    "Grab the handheld brown bottle with white lid with the left arm and shake.",
+    "Shake the the medium bottle with smooth texture properly after lifting.",
+    "Lift the bottle with brown body and white top with the left arm and give it a shake.",
+    "Shake the bottle with white cap using the left arm after grabbing.",
+    "Shake the cylindrical bottle with narrow neck after grabbing it.",
+    "Shake the cylindrical bottle with narrow neck after grabbing it.",
+    "Pick the white-capped brown cylindrical bottle up with the left arm and shake.",
+    "Pick the rounded bottle with printed details and perform shaking motion.",
+    "Use the left arm to lift and shake the bottle with brown body and white top.",
+    "Grab the bottle with brown body and white top and move it to shake.",
+    "Pick the bottle with dark brown color up using the left arm and shake it.",
+    "Shake the medium plastic bottle after holding it firmly.",
+    "Lift the white-capped brown cylindrical bottle with the left arm and shake.",
+    "Lift the plastic bottle with printed label and shake it thoroughly.",
+    "Secure the smooth brown bottle, shake it, and place it down.",
+    "Grab the white-capped brown cylindrical bottle firmly, shake it, and put it down.",
+    "Take the plastic bottle with printed label using the left arm and give it a shake.",
+    "Hold the rounded bottle with printed details steady, then shake it.",
+    "Using the left arm, shake the plastic bottle for liquids and then place it back.",
+    "Hold the bottle with dark brown color, shake it briefly.",
+    "Catch the bottle with white cap and shake it instantly.",
+    "Hold the medium bottle with smooth texture and shake it properly.",
+    "Grab the bottle with dark brown color using the left arm, then shake.",
+    "Pick up the cylindrical bottle with narrow neck and shake it.",
+    "Use the left arm to grab the cylindrical bottle with narrow neck and shake it.",
+    "Lift up the medium bottle with smooth texture using the left arm, then shake.",
+    "Pick the rounded bottle with printed details, shake it with the left arm.",
+    "Hold and shake the the handheld brown bottle with white lid carefully.",
+    "Use the left arm to lift and shake the white-capped brown cylindrical bottle."
+  ],
+  "unseen": [
+    "Pick and shake the the brown bottle with the left arm.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Use the left arm to pick the lightweight plastic brown bottle.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Grab the lightweight plastic brown bottle, shake it properly, then set it down.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the brown bottle and give it a shake.",
+    "Use the left arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick up the lightweight plastic brown bottle with the left arm and shake.",
+    "Shake the lightweight plastic brown bottle after picking it with the left arm.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Use the left arm to pick the brown bottle.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the brown bottle and give it a shake.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Pick up the brown bottle with the left arm and shake.",
+    "Shake the brown bottle after picking it with the left arm.",
+    "Pick and shake the the lightweight plastic brown bottle with the left arm.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Use the left arm to pick the lightweight plastic brown bottle.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Pick up the brown cylindrical bottle with label with the left arm and shake.",
+    "Shake the lightweight plastic brown bottle after picking it with the left arm.",
+    "Pick and shake the the lightweight plastic brown bottle with the left arm.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Use the left arm to pick the lightweight plastic brown bottle.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Use the left arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick up the brown cylindrical bottle with label with the left arm and shake.",
+    "Shake the lightweight plastic brown bottle after picking it with the left arm.",
+    "Pick and shake the the brown cylindrical bottle with label with the left arm.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Use the left arm to pick the brown bottle.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Use the left arm to grab the lightweight plastic brown bottle and shake.",
+    "Pick up the brown cylindrical bottle with label with the left arm and shake.",
+    "Shake the brown bottle after picking it with the left arm.",
+    "Pick and shake the the brown bottle with the left arm.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Use the left arm to pick the brown bottle.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Use the left arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick up the brown cylindrical bottle with label with the left arm and shake.",
+    "Shake the lightweight plastic brown bottle after picking it with the left arm.",
+    "Pick and shake the the lightweight plastic brown bottle with the left arm.",
+    "Grab the brown bottle and shake it.",
+    "Use the left arm to pick the brown bottle.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the lightweight plastic brown bottle and give it a shake.",
+    "Use the left arm to grab the brown cylindrical bottle with label and shake.",
+    "Pick up the brown bottle with the left arm and shake.",
+    "Shake the brown cylindrical bottle with label after picking it with the left arm.",
+    "Pick and shake the the brown cylindrical bottle with label with the left arm.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Use the left arm to pick the lightweight plastic brown bottle.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the brown bottle and give it a shake.",
+    "Use the left arm to grab the lightweight plastic brown bottle and shake.",
+    "Pick up the brown bottle with the left arm and shake.",
+    "Shake the brown bottle after picking it with the left arm.",
+    "Pick and shake the the lightweight plastic brown bottle with the left arm.",
+    "Grab the brown cylindrical bottle with label and shake it.",
+    "Use the left arm to pick the brown cylindrical bottle with label.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the brown cylindrical bottle with label, shake it properly, then set it down.",
+    "Pick up the brown bottle and shake it.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Pick up the brown cylindrical bottle with label with the left arm and shake.",
+    "Shake the lightweight plastic brown bottle after picking it with the left arm.",
+    "Pick and shake the the lightweight plastic brown bottle with the left arm.",
+    "Grab the lightweight plastic brown bottle and shake it.",
+    "Use the left arm to pick the brown bottle.",
+    "Pick up the lightweight plastic brown bottle and shake it.",
+    "Grab the brown bottle, shake it properly, then set it down.",
+    "Pick up the brown cylindrical bottle with label and shake it.",
+    "Grab the brown cylindrical bottle with label and give it a shake.",
+    "Use the left arm to grab the brown bottle and shake.",
+    "Pick up the brown cylindrical bottle with label with the left arm and shake.",
+    "Shake the lightweight plastic brown bottle after picking it with the left arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007213.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007213.json
new file mode 100644
index 0000000000000000000000000000000000000000..7065c34b7c59048ca8a17b7d22fefd0affd825e2
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007213.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Using the right arm, shake the yellow label bottle and then place it back.",
+    "Shake the drinking bottle with yellow label thoroughly after grabbing it.",
+    "Shake the the bottle with ribbed orange bottom properly after lifting.",
+    "Grab the plastic bottle using the right arm, then shake.",
+    "Grab the white and orange plastic bottle and give it a shake.",
+    "Shake the cylindrical orange and white bottle after grabbing it.",
+    "Use the right arm to lift and shake the orange bottle.",
+    "Shake the yellow label bottle after holding it firmly.",
+    "Lift the medium orange bottle and shake it thoroughly.",
+    "Pick up the drinking bottle with yellow label and shake it well.",
+    "Grab the medium orange bottle and move it to shake.",
+    "Use the right arm to hold the yellow label bottle and shake it.",
+    "Hold the orange bottle with the right arm and shake lightly.",
+    "Catch the medium orange bottle and shake it instantly.",
+    "Grab the smooth plastic bottle with the right arm and shake.",
+    "Use the right arm to grab the bottle with ribbed orange bottom and shake it.",
+    "Grip the bottle with orange cap using the right arm and shake.",
+    "Secure the medium bottle with orange lid, 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.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Lift the smooth plastic bottle with the right arm and shake it.",
+    "Lift the orange and white bottle with cap and shake it gently.",
+    "Shake the orange and white bottle with cap using the right arm after grabbing.",
+    "Grab the drinking bottle with yellow label and shake it steadily.",
+    "Lift the orange and white bottle with cap with the right arm and shake.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Shake the orange bottle after grabbing it.",
+    "Grab and shake the bottle with ribbed orange bottom using the right arm.",
+    "Pick the medium orange bottle up using the right arm and shake it.",
+    "Use the right arm to pick and shake the orange bottle.",
+    "Shake the bottle with ribbed orange bottom after grabbing it.",
+    "Grab the medium bottle with orange lid firmly, shake it, and put it down.",
+    "Pick the plastic bottle, shake it with the right arm.",
+    "Hold the smooth plastic bottle steady, then shake it.",
+    "Secure the cylindrical orange and white bottle and perform a shake.",
+    "Lift up the orange bottle using the right arm, then shake.",
+    "Take the bottle with orange cap using the right arm and give it a shake.",
+    "Pick the medium orange bottle and perform shaking motion.",
+    "Use the right arm to grab the bottle with ribbed orange bottom and shake properly.",
+    "Hold the medium bottle with orange lid, shake it briefly.",
+    "Grab the medium bottle with orange lid carefully and shake.",
+    "Shake the plastic bottle after lifting it.",
+    "Lift the medium bottle with orange lid with the right arm and give it a shake.",
+    "Utilize the right arm to hold the white and orange plastic bottle and shake it.",
+    "Hold and shake the the smooth plastic bottle carefully.",
+    "Pick the cylindrical orange and white bottle up with the right arm and shake.",
+    "Shake the yellow label bottle firmly after grabbing.",
+    "With the right arm, pick the orange and white bottle with cap and shake properly.",
+    "Hold the smooth plastic bottle and shake it properly.",
+    "Using the right arm, shake the medium bottle with orange lid and then place it back.",
+    "Shake the cylindrical orange and white bottle thoroughly after grabbing it.",
+    "Shake the the orange and white bottle with cap properly after lifting.",
+    "Grab the white and orange plastic bottle using the right arm, then shake.",
+    "Grab the white and orange plastic bottle and give it a shake.",
+    "Shake the orange and white bottle with cap after grabbing it.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Shake the medium orange bottle after holding it firmly.",
+    "Lift the yellow label bottle and shake it thoroughly.",
+    "Pick up the medium bottle with orange lid and shake it well.",
+    "Grab the smooth plastic bottle and move it to shake.",
+    "Use the right arm to hold the orange bottle and shake it.",
+    "Hold the drinking bottle with yellow label with the right arm and shake lightly.",
+    "Catch the drinking bottle with yellow label and shake it instantly.",
+    "Grab the yellow label bottle with the right arm and shake.",
+    "Use the right arm to grab the orange and white bottle with cap and shake it.",
+    "Grip the bottle with ribbed orange bottom using the right arm and shake.",
+    "Secure the white and orange plastic bottle, shake it, and place it down.",
+    "Grasp the plastic bottle with the right arm and shake it.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Pick up the orange and white bottle with cap and shake it.",
+    "Lift the plastic bottle with the right arm and shake it.",
+    "Lift the medium orange bottle and shake it gently.",
+    "Shake the white and orange plastic bottle using the right arm after grabbing.",
+    "Grab the drinking bottle with yellow label and shake it steadily.",
+    "Lift the yellow label bottle with the right arm and shake.",
+    "Use the right arm to lift and shake the bottle with orange cap.",
+    "Shake the drinking bottle with yellow label after grabbing it.",
+    "Grab and shake the yellow label bottle using the right arm.",
+    "Pick the orange bottle up using the right arm and shake it.",
+    "Use the right arm to pick and shake the bottle with orange cap.",
+    "Shake the yellow label bottle after grabbing it.",
+    "Grab the bottle with ribbed orange bottom firmly, shake it, and put it down.",
+    "Pick the cylindrical orange and white bottle, shake it with the right arm.",
+    "Hold the medium orange bottle steady, then shake it.",
+    "Secure the bottle with orange cap and perform a shake.",
+    "Lift up the cylindrical orange and white bottle using the right arm, then shake.",
+    "Take the white and orange plastic bottle using the right arm and give it a shake.",
+    "Pick the bottle with orange cap and perform shaking motion.",
+    "Use the right arm to grab the drinking bottle with yellow label and shake properly.",
+    "Hold the orange and white bottle with cap, shake it briefly.",
+    "Grab the yellow label bottle carefully and shake.",
+    "Shake the smooth plastic bottle after lifting it.",
+    "Lift the bottle with orange cap with the right arm and give it a shake.",
+    "Utilize the right arm to hold the medium bottle with orange lid and shake it.",
+    "Hold and shake the the plastic bottle carefully.",
+    "Pick the drinking bottle with yellow label up with the right arm and shake.",
+    "Shake the smooth plastic bottle firmly after grabbing.",
+    "With the right arm, pick the orange bottle and shake properly.",
+    "Hold the orange bottle and shake it properly."
+  ],
+  "unseen": [
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Grab the bottle with curved body and shake it.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick up the bottle with curved body with the right arm and shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007233.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007233.json
new file mode 100644
index 0000000000000000000000000000000000000000..7108da28bf6e3ec6d1c1254175e7c2539c4e1a8e
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007233.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the bottle with ridges near base and shake it thoroughly.",
+    "Lift the green bottle with indented base with the left arm and shake.",
+    "Shake the smooth green bottle after grabbing it.",
+    "Pick up the bottle with rounded neck and shake it well.",
+    "Grab the smooth green bottle with the left arm and shake.",
+    "Grab the plastic bottle firmly, shake it, and put it down.",
+    "Shake the bottle with rounded neck after holding it firmly.",
+    "Use the left arm to hold the green bottle with indented base and shake it.",
+    "Lift the smooth green plastic bottle and shake it gently.",
+    "Lift up the medium green bottle with capped neck using the left arm, then shake.",
+    "Lift the bottle with rounded neck with the left arm and give it a shake.",
+    "Shake the bottle with ridges near base after grabbing it.",
+    "Shake the smooth green plastic bottle after lifting it.",
+    "Shake the handheld green bottle using the left arm after grabbing.",
+    "Use the left arm to lift and shake the bottle with rounded neck.",
+    "Shake the bottle with white printed label after grabbing it.",
+    "Pick the bottle with narrow top and perform shaking motion.",
+    "Grab and shake the bottle with ridges near base using the left arm.",
+    "Pick the bottle with rounded neck, shake it with the left arm.",
+    "Hold the handheld green bottle with the left arm and shake lightly.",
+    "Hold the medium-sized green bottle steady, then shake it.",
+    "Pick the handheld green bottle up using the left arm and shake it.",
+    "Grab the medium green bottle with capped neck and shake it steadily.",
+    "Secure the smooth green bottle, shake it, and place it down.",
+    "Pick up the handheld green bottle and shake it.",
+    "Lift the medium green bottle with capped neck with the left arm and shake it.",
+    "Shake the the green bottle with indented base properly after lifting.",
+    "Catch the medium green bottle and shake it instantly.",
+    "Grab the bottle with white printed label carefully and shake.",
+    "Grip the medium green bottle with capped neck using the left arm and shake.",
+    "With the left arm, pick the bottle with white printed label and shake properly.",
+    "Take the smooth green plastic bottle using the left arm and give it a shake.",
+    "Hold and shake the the smooth green plastic bottle carefully.",
+    "Use the left arm to grab the medium-sized green bottle and shake it.",
+    "Use the left arm to pick and shake the medium-sized green bottle.",
+    "Grab the bottle with narrow top using the left arm, then shake.",
+    "Hold the green bottle with indented base and shake it properly.",
+    "Grab the bottle with narrow top and move it to shake.",
+    "Use the left arm to lift and shake the plastic bottle.",
+    "Using the left arm, shake the bottle with white printed label and then place it back.",
+    "Secure the bottle with white printed label and perform a shake.",
+    "Grab the medium-sized green bottle and give it a shake.",
+    "Shake the bottle with white printed label firmly after grabbing.",
+    "Use the left arm to grab the bottle with rounded neck and shake properly.",
+    "Use the left arm to lift and shake the medium green bottle.",
+    "Shake the medium green bottle with capped neck thoroughly after grabbing it.",
+    "Hold the plastic bottle, shake it briefly.",
+    "Grasp the bottle with white printed label with the left arm and shake it.",
+    "Pick the smooth green plastic bottle up with the left arm and shake.",
+    "Utilize the left arm to hold the bottle with ridges near base and shake it.",
+    "Lift the green bottle with indented base and shake it thoroughly.",
+    "Lift the handheld green bottle with the left arm and shake.",
+    "Shake the bottle with rounded neck after grabbing it.",
+    "Pick up the bottle with rounded neck and shake it well.",
+    "Grab the smooth green bottle with the left arm and shake.",
+    "Grab the green bottle with indented base firmly, shake it, and put it down.",
+    "Shake the bottle with white printed label after holding it firmly.",
+    "Use the left arm to hold the smooth green bottle and shake it.",
+    "Lift the smooth green plastic bottle and shake it gently.",
+    "Lift up the plastic bottle using the left arm, then shake.",
+    "Lift the medium-sized green bottle with the left arm and give it a shake.",
+    "Shake the bottle with ridges near base after grabbing it.",
+    "Shake the medium-sized green bottle after lifting it.",
+    "Shake the bottle with narrow top using the left arm after grabbing.",
+    "Use the left arm to lift and shake the handheld green bottle.",
+    "Shake the bottle with white printed label after grabbing it.",
+    "Pick the green bottle with indented base and perform shaking motion.",
+    "Grab and shake the green bottle with indented base using the left arm.",
+    "Pick the bottle with white printed label, shake it with the left arm.",
+    "Hold the bottle with ridges near base with the left arm and shake lightly.",
+    "Hold the bottle with white printed label steady, then shake it.",
+    "Pick the handheld green bottle up using the left arm and shake it.",
+    "Grab the handheld green bottle and shake it steadily.",
+    "Secure the medium green bottle, shake it, and place it down.",
+    "Pick up the plastic bottle and shake it.",
+    "Lift the medium-sized green bottle with the left arm and shake it.",
+    "Shake the the green bottle with indented base properly after lifting.",
+    "Catch the smooth green bottle and shake it instantly.",
+    "Grab the medium green bottle with capped neck carefully and shake.",
+    "Grip the medium-sized green bottle using the left arm and shake.",
+    "With the left arm, pick the medium green bottle with capped neck and shake properly.",
+    "Take the bottle with narrow top using the left arm and give it a shake.",
+    "Hold and shake the the medium-sized green bottle carefully.",
+    "Use the left arm to grab the handheld green bottle and shake it.",
+    "Use the left arm to pick and shake the smooth green bottle.",
+    "Grab the bottle with ridges near base using the left arm, then shake.",
+    "Hold the smooth green bottle and shake it properly.",
+    "Grab the handheld green bottle and move it to shake.",
+    "Use the left arm to lift and shake the medium-sized green bottle.",
+    "Using the left arm, shake the handheld green bottle and then place it back.",
+    "Secure the bottle with narrow top and perform a shake.",
+    "Grab the smooth green plastic bottle and give it a shake.",
+    "Shake the smooth green bottle firmly after grabbing.",
+    "Use the left arm to grab the medium green bottle with capped neck and shake properly.",
+    "Use the left arm to lift and shake the medium-sized green bottle.",
+    "Shake the bottle with narrow top thoroughly after grabbing it.",
+    "Hold the bottle with ridges near base, shake it briefly.",
+    "Grasp the bottle with ridges near base with the left arm and shake it.",
+    "Pick the medium-sized green bottle up with the left arm and shake.",
+    "Utilize the left arm to hold the plastic bottle and shake it."
+  ],
+  "unseen": [
+    "Use the left arm to pick the green bottle with white label.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green bottle with white label and shake it.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Pick and shake the the green bottle with the left arm.",
+    "Grab the green bottle and give it a shake.",
+    "Use the left arm to grab the green bottle with white label and shake.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Shake the green bottle after picking it with the left arm.",
+    "Pick up the green bottle with the left arm and shake.",
+    "Use the left arm to pick the green plastic bottle with ridged bottom.",
+    "Pick up the green bottle and shake it.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Pick up the green bottle with white label and shake it.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the left arm.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Use the left arm to grab the green bottle and shake.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Shake the green bottle with white label after picking it with the left arm.",
+    "Pick up the green plastic bottle with ridged bottom with the left arm and shake.",
+    "Use the left arm to pick the green plastic bottle with ridged bottom.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Pick up the green bottle and shake it.",
+    "Pick and shake the the green bottle with the left arm.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Grab the green bottle with white label, shake it properly, then set it down.",
+    "Shake the green bottle after picking it with the left arm.",
+    "Pick up the green plastic bottle with ridged bottom with the left arm and shake.",
+    "Use the left arm to pick the green bottle with white label.",
+    "Pick up the green bottle with white label and shake it.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Pick up the green bottle and shake it.",
+    "Pick and shake the the green bottle with white label with the left arm.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "Use the left arm to grab the green bottle and shake.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Shake the green bottle with white label after picking it with the left arm.",
+    "Pick up the green plastic bottle with ridged bottom with the left arm and shake.",
+    "Use the left arm to pick the green plastic bottle with ridged bottom.",
+    "Pick up the green bottle with white label and shake it.",
+    "Grab the green bottle and shake it.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Pick and shake the the green bottle with white label with the left arm.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Grab the green bottle with white label, shake it properly, then set it down.",
+    "Shake the green plastic bottle with ridged bottom after picking it with the left arm.",
+    "Pick up the green bottle with white label with the left arm and shake.",
+    "Use the left arm to pick the green bottle.",
+    "Pick up the green bottle and shake it.",
+    "Grab the green bottle and shake it.",
+    "Pick up the green bottle and shake it.",
+    "Pick and shake the the green bottle with the left arm.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Grab the green bottle with white label, shake it properly, then set it down.",
+    "Shake the green bottle after picking it with the left arm.",
+    "Pick up the green bottle with the left arm and shake.",
+    "Use the left arm to pick the green plastic bottle with ridged bottom.",
+    "Pick up the green bottle with white label and shake it.",
+    "Grab the green bottle with white label and shake it.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the left arm.",
+    "Grab the green bottle and give it a shake.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Shake the green plastic bottle with ridged bottom after picking it with the left arm.",
+    "Pick up the green bottle with the left arm and shake.",
+    "Use the left arm to pick the green bottle with white label.",
+    "Pick up the green bottle and shake it.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Pick up the green bottle and shake it.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the left arm.",
+    "Grab the green bottle and give it a shake.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Shake the green bottle after picking it with the left arm.",
+    "Pick up the green bottle with the left arm and shake.",
+    "Use the left arm to pick the green plastic bottle with ridged bottom.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the left arm.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "Use the left arm to grab the green bottle and shake.",
+    "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Shake the green bottle after picking it with the left arm.",
+    "Pick up the green bottle with white label with the left arm and shake.",
+    "Use the left arm to pick the green bottle with white label.",
+    "Pick up the green bottle and shake it.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Pick and shake the the green bottle with the left arm.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Shake the green bottle with white label after picking it with the left arm.",
+    "Pick up the green plastic bottle with ridged bottom with the left arm and shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007234.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007234.json
new file mode 100644
index 0000000000000000000000000000000000000000..72960e140f9be01e7221716a6056a44d1bba3609
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007234.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the orange cylindrical bottle and shake it steadily.",
+    "Use the left arm to lift and shake the plastic bottle with sealed yellow cap.",
+    "Grab the plastic bottle carefully and shake.",
+    "Shake the bottle with printed label after holding it firmly.",
+    "Pick the plastic bottle with sealed yellow cap, shake it with the left arm.",
+    "Use the left arm to grab the plastic bottle with sealed yellow cap and shake properly.",
+    "Catch the yellow-capped plastic bottle and shake it instantly.",
+    "Grab the cylindrical orange bottle with yellow top firmly, shake it, and put it down.",
+    "Grasp the bottle for liquids with the left arm and shake it.",
+    "Hold the medium-sized orange bottle steady, then shake it.",
+    "Hold and shake the the cylindrical orange bottle with yellow top carefully.",
+    "Lift the bottle for liquids and shake it thoroughly.",
+    "Use the left arm to hold the smooth plastic bottle and shake it.",
+    "Secure the bottle with narrow neck, shake it, and place it down.",
+    "Secure the bottle for liquids and perform a shake.",
+    "Lift the cylindrical orange bottle with yellow top with the left arm and give it a shake.",
+    "Pick the plastic bottle with sealed yellow cap up using the left arm and shake it.",
+    "Take the yellow-capped plastic bottle using the left arm and give it a shake.",
+    "Lift the bottle with yellow cap with the left arm and shake.",
+    "Shake the bottle with yellow cap after grabbing it.",
+    "Shake the medium-sized orange bottle after grabbing it.",
+    "Lift the bottle for liquids with the left arm and shake it.",
+    "Grab the smooth plastic bottle and move it to shake.",
+    "Hold the plastic bottle with sealed yellow cap and shake it properly.",
+    "Shake the medium-sized orange bottle after grabbing it.",
+    "Grab and shake the bottle with yellow cap using the left arm.",
+    "Hold the medium-sized orange bottle, shake it briefly.",
+    "Use the left arm to grab the bottle with printed label and shake it.",
+    "Use the left arm to lift and shake the cylindrical orange bottle with yellow top.",
+    "Shake the bottle with yellow cap firmly after grabbing.",
+    "Use the left arm to lift and shake the cylindrical orange bottle with yellow top.",
+    "Shake the yellow-capped plastic bottle using the left arm after grabbing.",
+    "Grab the bottle with yellow cap with the left arm and shake.",
+    "Grip the orange bottle using the left arm and shake.",
+    "Shake the yellow-capped plastic bottle thoroughly after grabbing it.",
+    "Shake the orange bottle after lifting it.",
+    "Grab the plastic bottle using the left arm, then shake.",
+    "Hold the smooth plastic bottle with the left arm and shake lightly.",
+    "Pick the smooth plastic bottle and perform shaking motion.",
+    "Grab the plastic bottle and give it a shake.",
+    "Shake the the medium-sized orange bottle properly after lifting.",
+    "Lift up the bottle with yellow cap using the left arm, then shake.",
+    "Use the left arm to pick and shake the plastic bottle with sealed yellow cap.",
+    "Pick up the orange bottle and shake it.",
+    "Pick the bottle for liquids up with the left arm and shake.",
+    "Using the left arm, shake the orange cylindrical bottle and then place it back.",
+    "Utilize the left arm to hold the bottle with yellow cap and shake it.",
+    "Lift the plastic bottle with sealed yellow cap and shake it gently.",
+    "Pick up the plastic bottle with sealed yellow cap and shake it well.",
+    "With the left arm, pick the yellow-capped plastic bottle and shake properly.",
+    "Grab the cylindrical orange bottle with yellow top and shake it steadily.",
+    "Use the left arm to lift and shake the bottle with yellow cap.",
+    "Grab the bottle with printed label carefully and shake.",
+    "Shake the cylindrical orange bottle with yellow top after holding it firmly.",
+    "Pick the yellow-capped plastic bottle, shake it with the left arm.",
+    "Use the left arm to grab the smooth plastic bottle and shake properly.",
+    "Catch the smooth plastic bottle and shake it instantly.",
+    "Grab the orange cylindrical bottle firmly, shake it, and put it down.",
+    "Grasp the bottle with printed label with the left arm and shake it.",
+    "Hold the medium-sized orange bottle steady, then shake it.",
+    "Hold and shake the the smooth plastic bottle carefully.",
+    "Lift the bottle with narrow neck and shake it thoroughly.",
+    "Use the left arm to hold the smooth plastic bottle and shake it.",
+    "Secure the bottle with yellow cap, shake it, and place it down.",
+    "Secure the medium-sized orange bottle and perform a shake.",
+    "Lift the plastic bottle with the left arm and give it a shake.",
+    "Pick the smooth plastic bottle up using the left arm and shake it.",
+    "Take the plastic bottle using the left arm and give it a shake.",
+    "Lift the plastic bottle with the left arm and shake.",
+    "Shake the plastic bottle with sealed yellow cap after grabbing it.",
+    "Shake the medium-sized orange bottle after grabbing it.",
+    "Lift the bottle with printed label with the left arm and shake it.",
+    "Grab the plastic bottle with sealed yellow cap and move it to shake.",
+    "Hold the orange bottle and shake it properly.",
+    "Shake the plastic bottle after grabbing it.",
+    "Grab and shake the cylindrical orange bottle with yellow top using the left arm.",
+    "Hold the bottle with narrow neck, shake it briefly.",
+    "Use the left arm to grab the bottle with narrow neck and shake it.",
+    "Use the left arm to lift and shake the orange bottle.",
+    "Shake the cylindrical orange bottle with yellow top firmly after grabbing.",
+    "Use the left arm to lift and shake the orange cylindrical bottle.",
+    "Shake the yellow-capped plastic bottle using the left arm after grabbing.",
+    "Grab the plastic bottle with sealed yellow cap with the left arm and shake.",
+    "Grip the plastic bottle using the left arm and shake.",
+    "Shake the orange bottle thoroughly after grabbing it.",
+    "Shake the bottle with yellow cap after lifting it.",
+    "Grab the cylindrical orange bottle with yellow top using the left arm, then shake.",
+    "Hold the bottle for liquids with the left arm and shake lightly.",
+    "Pick the plastic bottle with sealed yellow cap and perform shaking motion.",
+    "Grab the bottle with narrow neck and give it a shake.",
+    "Shake the the smooth plastic bottle properly after lifting.",
+    "Lift up the bottle with narrow neck using the left arm, then shake.",
+    "Use the left arm to pick and shake the orange cylindrical bottle.",
+    "Pick up the orange cylindrical bottle and shake it.",
+    "Pick the orange bottle up with the left arm and shake.",
+    "Using the left arm, shake the plastic bottle with sealed yellow cap and then place it back.",
+    "Utilize the left arm to hold the plastic bottle with sealed yellow cap and shake it.",
+    "Lift the smooth plastic bottle and shake it gently.",
+    "Pick up the bottle for liquids and shake it well.",
+    "With the left arm, pick the cylindrical orange bottle with yellow top and shake properly."
+  ],
+  "unseen": [
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Grab the handheld orange bottle and shake it.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "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 with the left arm and shake.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Grab the handheld orange bottle and shake it.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "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 with the left arm and shake.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Grab the orange bottle with smooth texture and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007253.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007253.json
new file mode 100644
index 0000000000000000000000000000000000000000..b01e26c80bcd91cd69e0b92716812a217bd9b006
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007253.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the plastic bottle with black top with the left arm and shake it.",
+    "With the left arm, pick the light blue cylindrical bottle and shake properly.",
+    "Grab the medium water bottle using the left arm, then shake.",
+    "Grip the blue water bottle with textured lid using the left arm and shake.",
+    "Shake the plastic bottle with black top after holding it firmly.",
+    "Grab the cylindrical bottle with rounded edges firmly, shake it, and put it down.",
+    "Use the left arm to pick and shake the blue water bottle with textured lid.",
+    "Grab the plastic bottle and shake it steadily.",
+    "Lift the light blue cylindrical bottle with the left arm and shake.",
+    "Shake the medium water bottle after lifting it.",
+    "Secure the blue water bottle with textured lid, shake it, and place it down.",
+    "Use the left arm to lift and shake the light blue bottle with smooth body.",
+    "Shake the portable bottle for liquids after grabbing it.",
+    "Hold and shake the the rounded bottle with black lid carefully.",
+    "Grab the cylindrical bottle with rounded edges with the left arm and shake.",
+    "Lift the light blue cylindrical bottle with the left arm and give it a shake.",
+    "Shake the the bottle with black textured cap properly after lifting.",
+    "Catch the blue bottle and shake it instantly.",
+    "Use the left arm to grab the cylindrical bottle with rounded edges and shake properly.",
+    "Secure the light blue bottle with strap-loop and perform a shake.",
+    "Pick the light blue cylindrical bottle up with the left arm and shake.",
+    "Hold the plastic bottle, shake it briefly.",
+    "Use the left arm to lift and shake the blue water bottle with textured lid.",
+    "Pick up the rounded bottle with black lid and shake it.",
+    "Pick the blue water bottle with textured lid up using the left arm and shake it.",
+    "Pick the portable bottle for liquids and perform shaking motion.",
+    "Pick up the plastic bottle and shake it well.",
+    "Hold the light blue bottle with smooth body with the left arm and shake lightly.",
+    "Utilize the left arm to hold the blue bottle and shake it.",
+    "Lift the light blue cylindrical bottle and shake it thoroughly.",
+    "Grab the medium water bottle and move it to shake.",
+    "Using the left arm, shake the light blue cylindrical bottle and then place it back.",
+    "Shake the blue water bottle with textured lid using the left arm after grabbing.",
+    "Grasp the light blue cylindrical bottle with the left arm and shake it.",
+    "Shake the light blue bottle with strap-loop after grabbing it.",
+    "Grab the plastic bottle and give it a shake.",
+    "Lift up the light blue bottle with strap-loop using the left arm, then shake.",
+    "Hold the light blue bottle with smooth body and shake it properly.",
+    "Shake the rounded bottle with black lid thoroughly after grabbing it.",
+    "Use the left arm to hold the plastic bottle with black top and shake it.",
+    "Shake the blue water bottle with textured lid after grabbing it.",
+    "Use the left arm to grab the blue water bottle with textured lid and shake it.",
+    "Grab the light blue cylindrical bottle carefully and shake.",
+    "Grab and shake the cylindrical bottle with rounded edges using the left arm.",
+    "Hold the bottle with black textured cap steady, then shake it.",
+    "Take the plastic bottle with black top using the left arm and give it a shake.",
+    "Shake the blue bottle firmly after grabbing.",
+    "Use the left arm to lift and shake the medium water bottle.",
+    "Lift the plastic bottle and shake it gently.",
+    "Pick the light blue cylindrical bottle, shake it with the left arm.",
+    "Lift the rounded bottle with black lid with the left arm and shake it.",
+    "With the left arm, pick the light blue bottle with strap-loop and shake properly.",
+    "Grab the rounded bottle with black lid using the left arm, then shake.",
+    "Grip the blue bottle using the left arm and shake.",
+    "Shake the rounded bottle with black lid after holding it firmly.",
+    "Grab the blue water bottle with textured lid firmly, shake it, and put it down.",
+    "Use the left arm to pick and shake the medium water bottle.",
+    "Grab the bottle with black textured cap and shake it steadily.",
+    "Lift the rounded bottle with black lid with the left arm and shake.",
+    "Shake the portable bottle for liquids after lifting it.",
+    "Secure the blue bottle, shake it, and place it down.",
+    "Use the left arm to lift and shake the medium water bottle.",
+    "Shake the bottle with black textured cap after grabbing it.",
+    "Hold and shake the the light blue bottle with smooth body carefully.",
+    "Grab the plastic bottle with the left arm and shake.",
+    "Lift the blue water bottle with textured lid with the left arm and give it a shake.",
+    "Shake the the rounded bottle with black lid properly after lifting.",
+    "Catch the light blue cylindrical bottle and shake it instantly.",
+    "Use the left arm to grab the light blue cylindrical bottle and shake properly.",
+    "Secure the rounded bottle with black lid and perform a shake.",
+    "Pick the plastic bottle up with the left arm and shake.",
+    "Hold the plastic bottle with black top, shake it briefly.",
+    "Use the left arm to lift and shake the light blue bottle with strap-loop.",
+    "Pick up the bottle with black textured cap and shake it.",
+    "Pick the plastic bottle with black top up using the left arm and shake it.",
+    "Pick the plastic bottle and perform shaking motion.",
+    "Pick up the plastic bottle with black top and shake it well.",
+    "Hold the rounded bottle with black lid with the left arm and shake lightly.",
+    "Utilize the left arm to hold the medium water bottle and shake it.",
+    "Lift the portable bottle for liquids and shake it thoroughly.",
+    "Grab the light blue bottle with smooth body and move it to shake.",
+    "Using the left arm, shake the light blue cylindrical bottle and then place it back.",
+    "Shake the plastic bottle with black top using the left arm after grabbing.",
+    "Grasp the plastic bottle with the left arm and shake it.",
+    "Shake the bottle with black textured cap after grabbing it.",
+    "Grab the rounded bottle with black lid and give it a shake.",
+    "Lift up the light blue bottle with strap-loop using the left arm, then shake.",
+    "Hold the light blue cylindrical bottle and shake it properly.",
+    "Shake the blue bottle thoroughly after grabbing it.",
+    "Use the left arm to hold the blue water bottle with textured lid and shake it.",
+    "Shake the light blue cylindrical bottle after grabbing it.",
+    "Use the left arm to grab the portable bottle for liquids and shake it.",
+    "Grab the light blue cylindrical bottle carefully and shake.",
+    "Grab and shake the plastic bottle with black top using the left arm.",
+    "Hold the plastic bottle with black top steady, then shake it.",
+    "Take the medium water bottle using the left arm and give it a shake.",
+    "Shake the bottle with black textured cap firmly after grabbing.",
+    "Use the left arm to lift and shake the plastic bottle.",
+    "Lift the light blue cylindrical bottle and shake it gently.",
+    "Pick the light blue bottle with strap-loop, shake it with the left arm."
+  ],
+  "unseen": [
+    "Pick and shake the the bottle with attached loop on cap with the left arm.",
+    "Use the left arm to grab the smooth blue water bottle and shake.",
+    "Shake the bottle with attached loop on cap after picking it with the left arm.",
+    "Grab the smooth blue water bottle, shake it properly, then set it down.",
+    "Grab the cylindrical plastic bottle for carrying water and shake it.",
+    "Pick up the smooth blue water bottle and shake it.",
+    "Pick up the smooth blue water bottle and shake it.",
+    "Grab the bottle with attached loop on cap and give it a shake.",
+    "Pick up the smooth blue water bottle with the left arm and shake.",
+    "Use the left arm to pick the bottle with attached loop on cap.",
+    "Pick and shake the the smooth blue water bottle with the left arm.",
+    "Use the left arm to grab the bottle with attached loop on cap and shake.",
+    "Shake the bottle with attached loop on cap after picking it with the left arm.",
+    "Grab the bottle with attached loop on cap, shake it properly, then set it down.",
+    "Grab the bottle with attached loop on cap and shake it.",
+    "Pick up the bottle with attached loop on cap and shake it.",
+    "Pick up the smooth blue water bottle and shake it.",
+    "Grab the bottle with attached loop on cap and give it a shake.",
+    "Pick up the bottle with attached loop on cap with the left arm and shake.",
+    "Use the left arm to pick the bottle with attached loop on cap.",
+    "Pick and shake the the bottle with attached loop on cap with the left arm.",
+    "Use the left arm to grab the smooth blue water bottle and shake.",
+    "Shake the cylindrical plastic bottle for carrying water after picking it with the left arm.",
+    "Grab the cylindrical plastic bottle for carrying water, shake it properly, then set it down.",
+    "Grab the smooth blue water bottle and shake it.",
+    "Pick up the smooth blue water bottle and shake it.",
+    "Pick up the smooth blue water bottle and shake it.",
+    "Grab the cylindrical plastic bottle for carrying water and give it a shake.",
+    "Pick up the cylindrical plastic bottle for carrying water with the left arm and shake.",
+    "Use the left arm to pick the cylindrical plastic bottle for carrying water.",
+    "Pick and shake the the smooth blue water bottle with the left arm.",
+    "Use the left arm to grab the cylindrical plastic bottle for carrying water and shake.",
+    "Shake the cylindrical plastic bottle for carrying water after picking it with the left arm.",
+    "Grab the bottle with attached loop on cap, shake it properly, then set it down.",
+    "Grab the bottle with attached loop on cap and shake it.",
+    "Pick up the smooth blue water bottle and shake it.",
+    "Pick up the smooth blue water bottle and shake it.",
+    "Grab the smooth blue water bottle and give it a shake.",
+    "Pick up the bottle with attached loop on cap with the left arm and shake.",
+    "Use the left arm to pick the cylindrical plastic bottle for carrying water.",
+    "Pick and shake the the cylindrical plastic bottle for carrying water with the left arm.",
+    "Use the left arm to grab the smooth blue water bottle and shake.",
+    "Shake the smooth blue water bottle after picking it with the left arm.",
+    "Grab the bottle with attached loop on cap, shake it properly, then set it down.",
+    "Grab the smooth blue water bottle and shake it.",
+    "Pick up the bottle with attached loop on cap and shake it.",
+    "Pick up the smooth blue water bottle and shake it.",
+    "Grab the smooth blue water bottle and give it a shake.",
+    "Pick up the cylindrical plastic bottle for carrying water with the left arm and shake.",
+    "Use the left arm to pick the cylindrical plastic bottle for carrying water.",
+    "Pick and shake the the bottle with attached loop on cap with the left arm.",
+    "Use the left arm to grab the smooth blue water bottle and shake.",
+    "Shake the cylindrical plastic bottle for carrying water after picking it with the left arm.",
+    "Grab the bottle with attached loop on cap, shake it properly, then set it down.",
+    "Grab the cylindrical plastic bottle for carrying water and shake it.",
+    "Pick up the cylindrical plastic bottle for carrying water and shake it.",
+    "Pick up the bottle with attached loop on cap and shake it.",
+    "Grab the bottle with attached loop on cap and give it a shake.",
+    "Pick up the smooth blue water bottle with the left arm and shake.",
+    "Use the left arm to pick the bottle with attached loop on cap.",
+    "Pick and shake the the cylindrical plastic bottle for carrying water with the left arm.",
+    "Use the left arm to grab the bottle with attached loop on cap and shake.",
+    "Shake the smooth blue water bottle after picking it with the left arm.",
+    "Grab the smooth blue water bottle, shake it properly, then set it down.",
+    "Grab the cylindrical plastic bottle for carrying water and shake it.",
+    "Pick up the smooth blue water bottle and shake it.",
+    "Pick up the bottle with attached loop on cap and shake it.",
+    "Grab the smooth blue water bottle and give it a shake.",
+    "Pick up the cylindrical plastic bottle for carrying water with the left arm and shake.",
+    "Use the left arm to pick the smooth blue water bottle.",
+    "Pick and shake the the smooth blue water bottle with the left arm.",
+    "Use the left arm to grab the cylindrical plastic bottle for carrying water and shake.",
+    "Shake the bottle with attached loop on cap after picking it with the left arm.",
+    "Grab the smooth blue water bottle, shake it properly, then set it down.",
+    "Grab the smooth blue water bottle and shake it.",
+    "Pick up the cylindrical plastic bottle for carrying water and shake it.",
+    "Pick up the cylindrical plastic bottle for carrying water and shake it.",
+    "Grab the cylindrical plastic bottle for carrying water and give it a shake.",
+    "Pick up the bottle with attached loop on cap with the left arm and shake.",
+    "Use the left arm to pick the cylindrical plastic bottle for carrying water.",
+    "Pick and shake the the cylindrical plastic bottle for carrying water with the left arm.",
+    "Use the left arm to grab the bottle with attached loop on cap and shake.",
+    "Shake the cylindrical plastic bottle for carrying water after picking it with the left arm.",
+    "Grab the smooth blue water bottle, shake it properly, then set it down.",
+    "Grab the smooth blue water bottle and shake it.",
+    "Pick up the bottle with attached loop on cap and shake it.",
+    "Pick up the cylindrical plastic bottle for carrying water and shake it.",
+    "Grab the smooth blue water bottle and give it a shake.",
+    "Pick up the cylindrical plastic bottle for carrying water with the left arm and shake.",
+    "Use the left arm to pick the bottle with attached loop on cap.",
+    "Pick and shake the the smooth blue water bottle with the left arm.",
+    "Use the left arm to grab the cylindrical plastic bottle for carrying water and shake.",
+    "Shake the cylindrical plastic bottle for carrying water after picking it with the left arm.",
+    "Grab the cylindrical plastic bottle for carrying water, shake it properly, then set it down.",
+    "Grab the cylindrical plastic bottle for carrying water and shake it.",
+    "Pick up the smooth blue water bottle and shake it.",
+    "Pick up the cylindrical plastic bottle for carrying water and shake it.",
+    "Grab the cylindrical plastic bottle for carrying water and give it a shake.",
+    "Pick up the cylindrical plastic bottle for carrying water with the left arm and shake.",
+    "Use the left arm to pick the smooth blue water bottle."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007308.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007308.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed2bb1559a98a2fd0a82935663808bc9e299f92b
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007308.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Catch the plastic bottle and shake it instantly.",
+    "Hold the bottle for holding drinks and shake it properly.",
+    "Take the grooved orange drink bottle using the left arm and give it a shake.",
+    "Use the left arm to grab the curved orange soda bottle and shake it.",
+    "Using the left arm, shake the grooved orange drink bottle and then place it back.",
+    "Hold and shake the the plastic bottle carefully.",
+    "Pick up the ridged orange bottle with grooves and shake it.",
+    "Lift the smooth orange bottle and shake it thoroughly.",
+    "Shake the grooved orange drink bottle using the left arm after grabbing.",
+    "Use the left arm to lift and shake the smooth orange bottle.",
+    "Secure the smooth orange bottle and perform a shake.",
+    "Use the left arm to lift and shake the bottle for holding drinks.",
+    "Use the left arm to grab the grooved orange drink bottle and shake properly.",
+    "Lift up the medium bottle with colorful label using the left arm, then shake.",
+    "Shake the light and medium-sized bottle firmly after grabbing.",
+    "Grab the orange drink bottle with label carefully and shake.",
+    "Grab the medium bottle with colorful label and shake it steadily.",
+    "Pick the smooth orange bottle up using the left arm and shake it.",
+    "With the left arm, pick the round-bottom bottle with white cap and shake properly.",
+    "Grab and shake the smooth orange bottle using the left arm.",
+    "Shake the the smooth orange bottle properly after lifting.",
+    "Shake the round-bottom bottle with white cap after grabbing it.",
+    "Hold the light and medium-sized bottle with the left arm and shake lightly.",
+    "Utilize the left arm to hold the ridged orange bottle with grooves and shake it.",
+    "Shake the bottle for holding drinks thoroughly after grabbing it.",
+    "Use the left arm to lift and shake the curved orange soda bottle.",
+    "Grab the smooth orange bottle firmly, shake it, and put it down.",
+    "Grasp the round-bottom bottle with white cap with the left arm and shake it.",
+    "Lift the orange bottle and shake it gently.",
+    "Grab the round-bottom bottle with white cap with the left arm and shake.",
+    "Grip the bottle for holding drinks using the left arm and shake.",
+    "Hold the grooved orange drink bottle, shake it briefly.",
+    "Grab the cylindrical orange plastic bottle using the left arm, then shake.",
+    "Use the left arm to hold the bottle for holding drinks and shake it.",
+    "Pick the grooved orange drink bottle up with the left arm and shake.",
+    "Grab the curved orange soda bottle and move it to shake.",
+    "Lift the plastic bottle with the left arm and shake.",
+    "Shake the plastic bottle after lifting it.",
+    "Lift the ridged orange bottle with grooves with the left arm and shake it.",
+    "Hold the bottle for holding drinks steady, then shake it.",
+    "Shake the plastic bottle after grabbing it.",
+    "Use the left arm to pick and shake the medium bottle with colorful label.",
+    "Secure the curved orange soda bottle, shake it, and place it down.",
+    "Pick the smooth orange bottle and perform shaking motion.",
+    "Pick the grooved orange drink bottle, shake it with the left arm.",
+    "Pick up the round-bottom bottle with white cap and shake it well.",
+    "Lift the round-bottom bottle with white cap with the left arm and give it a shake.",
+    "Shake the light and medium-sized bottle after grabbing it.",
+    "Grab the smooth orange bottle and give it a shake.",
+    "Shake the curved orange soda bottle after holding it firmly.",
+    "Catch the smooth orange bottle and shake it instantly.",
+    "Hold the medium bottle with colorful label and shake it properly.",
+    "Take the bottle for holding drinks using the left arm and give it a shake.",
+    "Use the left arm to grab the round-bottom bottle with white cap and shake it.",
+    "Using the left arm, shake the orange drink bottle with label and then place it back.",
+    "Hold and shake the the bottle for holding drinks carefully.",
+    "Pick up the ridged orange bottle with grooves and shake it.",
+    "Lift the round-bottom bottle with white cap and shake it thoroughly.",
+    "Shake the light and medium-sized bottle using the left arm after grabbing.",
+    "Use the left arm to lift and shake the curved orange soda bottle.",
+    "Secure the orange bottle and perform a shake.",
+    "Use the left arm to lift and shake the orange drink bottle with label.",
+    "Use the left arm to grab the cylindrical orange plastic bottle and shake properly.",
+    "Lift up the ridged orange bottle with grooves using the left arm, then shake.",
+    "Shake the ridged orange bottle with grooves firmly after grabbing.",
+    "Grab the ridged orange bottle with grooves carefully and shake.",
+    "Grab the grooved orange drink bottle and shake it steadily.",
+    "Pick the cylindrical orange plastic bottle up using the left arm and shake it.",
+    "With the left arm, pick the cylindrical orange plastic bottle and shake properly.",
+    "Grab and shake the light and medium-sized bottle using the left arm.",
+    "Shake the the orange bottle properly after lifting.",
+    "Shake the ridged orange bottle with grooves after grabbing it.",
+    "Hold the curved orange soda bottle with the left arm and shake lightly.",
+    "Utilize the left arm to hold the bottle for holding drinks and shake it.",
+    "Shake the curved orange soda bottle thoroughly after grabbing it.",
+    "Use the left arm to lift and shake the orange drink bottle with label.",
+    "Grab the smooth orange bottle firmly, shake it, and put it down.",
+    "Grasp the round-bottom bottle with white cap with the left arm and shake it.",
+    "Lift the smooth orange bottle and shake it gently.",
+    "Grab the bottle for holding drinks with the left arm and shake.",
+    "Grip the light and medium-sized bottle using the left arm and shake.",
+    "Hold the medium bottle with colorful label, shake it briefly.",
+    "Grab the light and medium-sized bottle using the left arm, then shake.",
+    "Use the left arm to hold the orange drink bottle with label and shake it.",
+    "Pick the smooth orange bottle up with the left arm and shake.",
+    "Grab the curved orange soda bottle and move it to shake.",
+    "Lift the plastic bottle with the left arm and shake.",
+    "Shake the grooved orange drink bottle after lifting it.",
+    "Lift the cylindrical orange plastic bottle with the left arm and shake it.",
+    "Hold the ridged orange bottle with grooves steady, then shake it.",
+    "Shake the plastic bottle after grabbing it.",
+    "Use the left arm to pick and shake the grooved orange drink bottle.",
+    "Secure the orange bottle, shake it, and place it down.",
+    "Pick the grooved orange drink bottle and perform shaking motion.",
+    "Pick the curved orange soda bottle, shake it with the left arm.",
+    "Pick up the round-bottom bottle with white cap and shake it well.",
+    "Lift the grooved orange drink bottle with the left arm and give it a shake.",
+    "Shake the light and medium-sized bottle after grabbing it.",
+    "Grab the ridged orange bottle with grooves and give it a shake.",
+    "Shake the plastic bottle after holding it firmly."
+  ],
+  "unseen": [
+    "Shake the white capped orange plastic bottle after picking it with the left arm.",
+    "Pick up the bottle with ridged orange grip with the left arm and shake.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Pick up the bottle with ridged orange grip 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.",
+    "Use the left arm to grab the bottle with white cap and shake.",
+    "Grab the bottle with white cap and shake it.",
+    "Pick and shake the the bottle with ridged orange grip with the left arm.",
+    "Use the left arm to pick the white capped orange plastic bottle.",
+    "Shake the bottle with ridged orange grip after picking it with the left arm.",
+    "Pick up the bottle with ridged orange grip with the left arm and shake.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Pick up the bottle with white cap and shake it.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Use the left arm to grab the bottle with white cap and shake.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Pick and shake the the bottle with white cap with the left arm.",
+    "Use the left arm to pick the bottle with white cap.",
+    "Shake the bottle with ridged orange grip after picking it with the left arm.",
+    "Pick up the white capped orange plastic bottle with the left arm and shake.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Pick up the bottle with white cap and shake it.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Use the left arm to grab the bottle with ridged orange grip and shake.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Pick and shake the the bottle with white cap with the left arm.",
+    "Use the left arm to pick the white capped orange plastic bottle.",
+    "Shake the bottle with white cap after picking it with the left arm.",
+    "Pick up the bottle with white cap with the left arm and shake.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Use the left arm to grab the bottle with white cap and shake.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Pick and shake the the white capped orange plastic bottle with the left arm.",
+    "Use the left arm to pick the bottle with ridged orange grip.",
+    "Shake the white capped orange plastic bottle after picking it with the left arm.",
+    "Pick up the bottle with ridged orange grip with the left arm and shake.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Use the left arm to grab the bottle with white cap and shake.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Pick and shake the the white capped orange plastic bottle with the left arm.",
+    "Use the left arm to pick the bottle with white cap.",
+    "Shake the bottle with white cap after picking it with the left arm.",
+    "Pick up the bottle with ridged orange grip with the left arm and shake.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Pick up the bottle with ridged orange grip 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.",
+    "Use the left arm to grab the bottle with ridged orange grip and shake.",
+    "Grab the bottle with white cap and shake it.",
+    "Pick and shake the the white capped orange plastic bottle with the left arm.",
+    "Use the left arm to pick the bottle with white cap.",
+    "Shake the bottle with ridged orange grip after picking it with the left arm.",
+    "Pick up the white capped orange plastic bottle with the left arm and shake.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Use the left arm to grab the white capped orange plastic bottle and shake.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Pick and shake the the white capped orange plastic bottle with the left arm.",
+    "Use the left arm to pick the bottle with ridged orange grip.",
+    "Shake the bottle with ridged orange grip after picking it with the left arm.",
+    "Pick up the white capped orange plastic bottle with the left arm and shake.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Pick up 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.",
+    "Use the left arm to grab the white capped orange plastic bottle and shake.",
+    "Grab the bottle with white cap and shake it.",
+    "Pick and shake the the bottle with white cap with the left arm.",
+    "Use the left arm to pick the bottle with white cap.",
+    "Shake the bottle with white cap after picking it with the left arm.",
+    "Pick up the bottle with ridged orange grip with the left arm and shake.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Use the left arm to grab the bottle with ridged orange grip and shake.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Pick and shake the the bottle with white cap with the left arm.",
+    "Use the left arm to pick the bottle with ridged orange grip.",
+    "Shake the white capped orange plastic bottle after picking it with the left arm.",
+    "Pick up the bottle with ridged orange grip with the left arm and shake.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Pick up the bottle with white cap and shake it.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Use the left arm to grab the white capped orange plastic bottle and shake.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Pick and shake the the white capped orange plastic bottle with the left arm.",
+    "Use the left arm to pick the bottle with ridged orange grip."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007314.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007314.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb335f11332253deeda35713346599e6e2bc8e9b
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10007314.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the plastic bottle up with the right arm and shake.",
+    "Shake the plastic bottle thoroughly after grabbing it.",
+    "Use the right arm to grab the handheld white bottle with cap and shake it.",
+    "Grab the plastic bottle carefully and shake.",
+    "Shake the medium-sized bottle firmly after grabbing.",
+    "Hold the white bottle for liquids with the right arm and shake lightly.",
+    "Hold and shake the the white bottle with red text carefully.",
+    "Grab the handheld white bottle with cap and shake it steadily.",
+    "Secure the medium-sized bottle and perform a shake.",
+    "Secure the white bottle, shake it, and place it down.",
+    "Lift the white bottle with orange lid with the right arm and shake.",
+    "Grab and shake the cylindrical bottle with red writing using the right arm.",
+    "Grip the white bottle for liquids using the right arm and shake.",
+    "Use the right arm to hold the medium-sized bottle and shake it.",
+    "Using the right arm, shake the smooth bottle and then place it back.",
+    "Use the right arm to lift and shake the bottle with orange screw cap.",
+    "Grab the handheld white bottle with cap and give it a shake.",
+    "Grab the bottle with tapering neck and move it to shake.",
+    "Use the right arm to lift and shake the white bottle.",
+    "Utilize the right arm to hold the white bottle for liquids and shake it.",
+    "Shake the medium-sized bottle using the right arm after grabbing.",
+    "Shake the white bottle for liquids after grabbing it.",
+    "Pick the bottle with orange screw cap up using the right arm and shake it.",
+    "Grab the bottle with tapering neck firmly, shake it, and put it down.",
+    "Hold the white bottle for liquids steady, then shake it.",
+    "Hold the white bottle for liquids, shake it briefly.",
+    "Catch the white bottle and shake it instantly.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Hold the white cylindrical bottle and shake it properly.",
+    "Pick the white bottle for liquids, shake it with the right arm.",
+    "Lift the white bottle with red text with the right arm and give it a shake.",
+    "Lift the smooth bottle and shake it thoroughly.",
+    "Shake the bottle with tapering neck after grabbing it.",
+    "Lift up the white bottle with red text using the right arm, then shake.",
+    "Lift the medium-sized bottle and shake it gently.",
+    "Shake the the plastic bottle properly after lifting.",
+    "Shake the plastic bottle after holding it firmly.",
+    "Shake the white bottle with red text after lifting it.",
+    "Pick up the medium-sized bottle and shake it.",
+    "Pick up the white bottle with red text and shake it well.",
+    "Pick the plastic bottle and perform shaking motion.",
+    "Lift the plastic bottle with the right arm and shake it.",
+    "Take the white bottle for liquids using the right arm and give it a shake.",
+    "Grab the plastic bottle using the right arm, then shake.",
+    "Shake the cylindrical bottle with red writing after grabbing it.",
+    "Use the right arm to pick and shake the white bottle with orange lid.",
+    "Grab the smooth bottle with the right arm and shake.",
+    "Use the right arm to grab the handheld white bottle with cap and shake properly.",
+    "Grasp the cylindrical bottle with red writing with the right arm and shake it.",
+    "With the right arm, pick the bottle with orange screw cap and shake properly.",
+    "Pick the plastic bottle up with the right arm and shake.",
+    "Shake the white bottle with red text thoroughly after grabbing it.",
+    "Use the right arm to grab the smooth bottle and shake it.",
+    "Grab the bottle with orange screw cap carefully and shake.",
+    "Shake the white cylindrical bottle firmly after grabbing.",
+    "Hold the white cylindrical bottle with the right arm and shake lightly.",
+    "Hold and shake the the smooth bottle carefully.",
+    "Grab the medium-sized bottle and shake it steadily.",
+    "Secure the plastic bottle and perform a shake.",
+    "Secure the smooth bottle, shake it, and place it down.",
+    "Lift the white bottle with red text with the right arm and shake.",
+    "Grab and shake the white bottle using the right arm.",
+    "Grip the medium-sized bottle using the right arm and shake.",
+    "Use the right arm to hold the smooth bottle and shake it.",
+    "Using the right arm, shake the white bottle and then place it back.",
+    "Use the right arm to lift and shake the white bottle for liquids.",
+    "Grab the bottle with tapering neck and give it a shake.",
+    "Grab the white bottle with red text and move it to shake.",
+    "Use the right arm to lift and shake the white bottle.",
+    "Utilize the right arm to hold the white bottle and shake it.",
+    "Shake the bottle with orange screw cap using the right arm after grabbing.",
+    "Shake the handheld white bottle with cap after grabbing it.",
+    "Pick the medium-sized bottle up using the right arm and shake it.",
+    "Grab the cylindrical bottle with red writing firmly, shake it, and put it down.",
+    "Hold the white bottle with orange lid steady, then shake it.",
+    "Hold the white bottle with red text, shake it briefly.",
+    "Catch the bottle with orange screw cap and shake it instantly.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Hold the white bottle and shake it properly.",
+    "Pick the bottle with tapering neck, shake it with the right arm.",
+    "Lift the cylindrical bottle with red writing with the right arm and give it a shake.",
+    "Lift the white bottle for liquids and shake it thoroughly.",
+    "Shake the handheld white bottle with cap after grabbing it.",
+    "Lift up the white bottle using the right arm, then shake.",
+    "Lift the handheld white bottle with cap and shake it gently.",
+    "Shake the the white bottle for liquids properly after lifting.",
+    "Shake the bottle with tapering neck after holding it firmly.",
+    "Shake the bottle with orange screw cap after lifting it.",
+    "Pick up the white bottle and shake it.",
+    "Pick up the handheld white bottle with cap and shake it well.",
+    "Pick the white cylindrical bottle and perform shaking motion.",
+    "Lift the bottle with tapering neck with the right arm and shake it.",
+    "Take the white bottle using the right arm and give it a shake.",
+    "Grab the white cylindrical bottle using the right arm, then shake.",
+    "Shake the white cylindrical bottle after grabbing it.",
+    "Use the right arm to pick and shake the white bottle with red text.",
+    "Grab the white bottle with red text with the right arm and shake.",
+    "Use the right arm to grab the white bottle for liquids and shake properly.",
+    "Grasp the cylindrical bottle with red writing with the right arm and shake it.",
+    "With the right arm, pick the white bottle for liquids and shake properly."
+  ],
+  "unseen": [
+    "Pick up the bottle with orange cap and shake it.",
+    "Pick and shake the the bottle with orange cap with the right arm.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Grab the bottle with glossy surface and give it a shake.",
+    "Shake the bottle with orange cap after picking it with the right arm.",
+    "Pick up the plastic bottle with printed label with the right arm and shake.",
+    "Grab the plastic bottle with printed label and shake it.",
+    "Grab the bottle with orange cap, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with glossy surface and shake.",
+    "Use the right arm to pick the bottle with orange cap.",
+    "Pick up the plastic bottle with printed label and shake it.",
+    "Pick and shake the the bottle with orange cap with the right arm.",
+    "Pick up the plastic bottle with printed label and shake it.",
+    "Grab the bottle with orange cap and give it a shake.",
+    "Shake the bottle with glossy surface after picking it with the right arm.",
+    "Pick up the bottle with glossy surface with the right arm and shake.",
+    "Grab the bottle with orange cap and shake it.",
+    "Grab the plastic bottle with printed label, shake it properly, then set it down.",
+    "Use the right arm to grab the plastic bottle with printed label and shake.",
+    "Use the right arm to pick the bottle with orange cap.",
+    "Pick up the plastic bottle with printed label and shake it.",
+    "Pick and shake the the plastic bottle with printed label with the right arm.",
+    "Pick up the plastic bottle with printed label and shake it.",
+    "Grab the plastic bottle with printed label and give it a shake.",
+    "Shake the bottle with orange cap after picking it with the right arm.",
+    "Pick up the bottle with orange cap with the right arm and shake.",
+    "Grab the plastic bottle with printed label and shake it.",
+    "Grab the bottle with glossy surface, shake it properly, then set it down.",
+    "Use the right arm to grab the plastic bottle with printed label and shake.",
+    "Use the right arm to pick the plastic bottle with printed label.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Pick and shake the the plastic bottle with printed label with the right arm.",
+    "Pick up the plastic bottle with printed label and shake it.",
+    "Grab the plastic bottle with printed label and give it a shake.",
+    "Shake the plastic bottle with printed label after picking it with the right arm.",
+    "Pick up the bottle with orange cap with the right arm and shake.",
+    "Grab the bottle with orange cap and shake it.",
+    "Grab the plastic bottle with printed label, shake it properly, then set it down.",
+    "Use the right arm to grab the plastic bottle with printed label and shake.",
+    "Use the right arm to pick the bottle with glossy surface.",
+    "Pick up the bottle with glossy surface and shake it.",
+    "Pick and shake the the bottle with glossy surface with the right arm.",
+    "Pick up the bottle with glossy surface and shake it.",
+    "Grab the bottle with orange cap and give it a shake.",
+    "Shake the plastic bottle with printed label after picking it with the right arm.",
+    "Pick up the bottle with orange cap with the right arm and shake.",
+    "Grab the bottle with orange cap and shake it.",
+    "Grab the plastic bottle with printed label, shake it properly, then set it down.",
+    "Use the right arm to grab the plastic bottle with printed label and shake.",
+    "Use the right arm to pick the bottle with orange cap.",
+    "Pick up the plastic bottle with printed label and shake it.",
+    "Pick and shake the the bottle with orange cap with the right arm.",
+    "Pick up the bottle with glossy surface and shake it.",
+    "Grab the plastic bottle with printed label and give it a shake.",
+    "Shake the plastic bottle with printed label after picking it with the right arm.",
+    "Pick up the plastic bottle with printed label with the right arm and shake.",
+    "Grab the bottle with orange cap and shake it.",
+    "Grab the plastic bottle with printed label, shake it properly, then set it down.",
+    "Use the right arm to grab the plastic bottle with printed label and shake.",
+    "Use the right arm to pick the bottle with glossy surface.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Pick and shake the the bottle with orange cap with the right arm.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Grab the bottle with orange cap and give it a shake.",
+    "Shake the bottle with orange cap after picking it with the right arm.",
+    "Pick up the plastic bottle with printed label with the right arm and shake.",
+    "Grab the bottle with orange cap and shake it.",
+    "Grab the bottle with glossy surface, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with glossy surface and shake.",
+    "Use the right arm to pick the bottle with orange cap.",
+    "Pick up the bottle with glossy surface and shake it.",
+    "Pick and shake the the bottle with orange cap with the right arm.",
+    "Pick up the plastic bottle with printed label and shake it.",
+    "Grab the bottle with orange cap and give it a shake.",
+    "Shake the plastic bottle with printed label after picking it with the right arm.",
+    "Pick up the bottle with glossy surface with the right arm and shake.",
+    "Grab the bottle with orange cap and shake it.",
+    "Grab the plastic bottle with printed label, shake it properly, then set it down.",
+    "Use the right arm to grab the plastic bottle with printed label and shake.",
+    "Use the right arm to pick the plastic bottle with printed label.",
+    "Pick up the plastic bottle with printed label and shake it.",
+    "Pick and shake the the bottle with glossy surface with the right arm.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Grab the bottle with orange cap and give it a shake.",
+    "Shake the bottle with glossy surface after picking it with the right arm.",
+    "Pick up the bottle with glossy surface with the right arm and shake.",
+    "Grab the plastic bottle with printed label and shake it.",
+    "Grab the bottle with orange cap, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with glossy surface and shake.",
+    "Use the right arm to pick the bottle with glossy surface.",
+    "Pick up the bottle with orange cap and shake it.",
+    "Pick and shake the the bottle with glossy surface with the right arm.",
+    "Pick up the plastic bottle with printed label and shake it.",
+    "Grab the plastic bottle with printed label and give it a shake.",
+    "Shake the bottle with orange cap after picking it with the right arm.",
+    "Pick up the bottle with orange cap with the right arm and shake.",
+    "Grab the bottle with glossy surface and shake it.",
+    "Grab the bottle with glossy surface, shake it properly, then set it down.",
+    "Use the right arm to grab the plastic bottle with printed label and shake.",
+    "Use the right arm to pick the bottle with orange cap."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008020.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008020.json
new file mode 100644
index 0000000000000000000000000000000000000000..935c71a65e894867850dc6dc148ae477816aba16
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008020.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to lift and shake the smooth bottle with rounded edges.",
+    "Shake the yellow container with rounded edges thoroughly after grabbing it.",
+    "Grab the plastic bottle and move it to shake.",
+    "Grab the medium rectangular yellow bottle carefully and shake.",
+    "Shake the bottle with green and white labels after lifting it.",
+    "Use the right arm to pick and shake the yellow bottle.",
+    "Pick up the yellow container with rounded edges and shake it.",
+    "Grasp the yellow bottle with a green design with the right arm and shake it.",
+    "Grab the yellow container with rounded edges using the right arm, then shake.",
+    "Use the right arm to grab the yellow plastic bottle with white top and shake it.",
+    "Hold the medium rectangular yellow bottle, shake it briefly.",
+    "Lift the bottle with a smooth plastic body and shake it gently.",
+    "Using the right arm, shake the rectangular bottle with cylindrical neck and then place it back.",
+    "With the right arm, pick the yellow bottle with a green design and shake properly.",
+    "Shake the bottle with white cap firmly after grabbing.",
+    "Shake the yellow container with rounded edges after grabbing it.",
+    "Secure the yellow bottle with a green design and perform a shake.",
+    "Grab the bottle with a smooth plastic body and shake it steadily.",
+    "Hold the bottle with white cap steady, then shake it.",
+    "Lift the yellow bottle with a green design with the right arm and shake.",
+    "Take the bottle with white cap using the right arm and give it a shake.",
+    "Grab and shake the medium rectangular yellow bottle using the right arm.",
+    "Use the right arm to lift and shake the bottle with a smooth plastic body.",
+    "Grip the bottle with green and white labels using the right arm and shake.",
+    "Shake the plastic bottle after grabbing it.",
+    "Use the right arm to hold the bottle with green and white labels and shake it.",
+    "Hold the bottle with white cap with the right arm and shake lightly.",
+    "Shake the yellow bottle with a green design using the right arm after grabbing.",
+    "Lift the rectangular bottle with cylindrical neck and shake it thoroughly.",
+    "Lift up the bottle with green label using the right arm, then shake.",
+    "Lift the rectangular bottle with cylindrical neck with the right arm and shake it.",
+    "Utilize the right arm to hold the plastic bottle and shake it.",
+    "Grab the plastic bottle with the right arm and shake.",
+    "Pick the rectangular bottle with cylindrical neck up using the right arm and shake it.",
+    "Hold the bottle with green and white labels and shake it properly.",
+    "Grab the bottle with green and white labels firmly, shake it, and put it down.",
+    "Shake the smooth bottle with rounded edges after grabbing it.",
+    "Shake the plastic bottle after holding it firmly.",
+    "Shake the the yellow bottle with a green design properly after lifting.",
+    "Pick the bottle with green and white labels, shake it with the right arm.",
+    "Use the right arm to lift and shake the bottle with white cap.",
+    "Catch the rectangular bottle with cylindrical neck and shake it instantly.",
+    "Use the right arm to grab the bottle with green and white labels and shake properly.",
+    "Pick up the bottle with green label and shake it well.",
+    "Lift the bottle with white cap with the right arm and give it a shake.",
+    "Secure the rectangular bottle with cylindrical neck, shake it, and place it down.",
+    "Pick the smooth bottle with rounded edges and perform shaking motion.",
+    "Pick the smooth bottle with rounded edges up with the right arm and shake.",
+    "Hold and shake the the bottle with green label carefully.",
+    "Grab the rectangular bottle with cylindrical neck and give it a shake.",
+    "Use the right arm to lift and shake the bottle with white cap.",
+    "Shake the rectangular bottle with cylindrical neck thoroughly after grabbing it.",
+    "Grab the yellow plastic bottle with white top and move it to shake.",
+    "Grab the bottle with green label carefully and shake.",
+    "Shake the bottle with green and white labels after lifting it.",
+    "Use the right arm to pick and shake the yellow bottle.",
+    "Pick up the bottle with green and white labels and shake it.",
+    "Grasp the bottle with a smooth plastic body with the right arm and shake it.",
+    "Grab the medium rectangular yellow bottle using the right arm, then shake.",
+    "Use the right arm to grab the bottle with white cap and shake it.",
+    "Hold the medium rectangular yellow bottle, shake it briefly.",
+    "Lift the bottle with white cap and shake it gently.",
+    "Using the right arm, shake the bottle with green label and then place it back.",
+    "With the right arm, pick the bottle with white cap and shake properly.",
+    "Shake the yellow bottle firmly after grabbing.",
+    "Shake the plastic bottle after grabbing it.",
+    "Secure the yellow bottle and perform a shake.",
+    "Grab the yellow bottle and shake it steadily.",
+    "Hold the bottle with green label steady, then shake it.",
+    "Lift the yellow container with rounded edges with the right arm and shake.",
+    "Take the smooth bottle with rounded edges using the right arm and give it a shake.",
+    "Grab and shake the yellow plastic bottle with white top using the right arm.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Grip the yellow plastic bottle with white top using the right arm and shake.",
+    "Shake the bottle with white cap after grabbing it.",
+    "Use the right arm to hold the rectangular bottle with cylindrical neck and shake it.",
+    "Hold the yellow bottle with a green design with the right arm and shake lightly.",
+    "Shake the yellow bottle with a green design using the right arm after grabbing.",
+    "Lift the rectangular bottle with cylindrical neck and shake it thoroughly.",
+    "Lift up the bottle with white cap using the right arm, then shake.",
+    "Lift the yellow bottle with the right arm and shake it.",
+    "Utilize the right arm to hold the yellow bottle with a green design and shake it.",
+    "Grab the yellow bottle with the right arm and shake.",
+    "Pick the medium rectangular yellow bottle up using the right arm and shake it.",
+    "Hold the yellow container with rounded edges and shake it properly.",
+    "Grab the plastic bottle firmly, shake it, and put it down.",
+    "Shake the yellow plastic bottle with white top after grabbing it.",
+    "Shake the rectangular bottle with cylindrical neck after holding it firmly.",
+    "Shake the the bottle with green and white labels properly after lifting.",
+    "Pick the bottle with green label, shake it with the right arm.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Catch the yellow bottle and shake it instantly.",
+    "Use the right arm to grab the smooth bottle with rounded edges and shake properly.",
+    "Pick up the yellow container with rounded edges and shake it well.",
+    "Lift the bottle with white cap with the right arm and give it a shake.",
+    "Secure the bottle with a smooth plastic body, shake it, and place it down.",
+    "Pick the plastic bottle and perform shaking motion.",
+    "Pick the yellow plastic bottle with white top up with the right arm and shake.",
+    "Hold and shake the the yellow container with rounded edges carefully.",
+    "Grab the bottle with green label and give it a shake."
+  ],
+  "unseen": [
+    "Shake the yellow rectangular bottle after picking it with the right arm.",
+    "Use the right arm to grab the yellow rectangular bottle and shake.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick and shake the the yellow bottle for liquid storage with the right arm.",
+    "Shake the yellow bottle for liquid storage after picking it with the right arm.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the right arm to pick the hand-sized yellow plastic bottle.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick and shake the the yellow bottle for liquid storage with the right arm.",
+    "Shake the yellow rectangular bottle after picking it with the right arm.",
+    "Use the right arm to grab the yellow rectangular bottle and shake.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Pick up the yellow rectangular bottle with the right arm and shake.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the yellow rectangular bottle and shake it.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Use the right arm to grab the yellow rectangular bottle and shake.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Pick up the yellow rectangular bottle with the right arm and shake.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the right arm to pick the hand-sized yellow plastic bottle.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Shake the yellow rectangular bottle after picking it with the right arm.",
+    "Use the right arm to grab the yellow rectangular bottle and shake.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Grab the yellow rectangular bottle, shake it properly, then set it down.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Shake the yellow rectangular bottle after picking it with the right arm.",
+    "Use the right arm to grab the yellow bottle for liquid storage and shake.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Pick up the yellow bottle for liquid storage with the right arm and shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the right arm to pick the yellow bottle for liquid storage.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick and shake the the yellow rectangular bottle with the right arm.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Use the right arm to grab the yellow rectangular bottle and shake.",
+    "Grab the yellow bottle for liquid storage and give it a shake.",
+    "Pick up the yellow bottle for liquid storage with the right arm and shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the right arm to pick the yellow rectangular bottle.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm.",
+    "Shake the hand-sized yellow plastic bottle after picking it with the right arm.",
+    "Use the right arm to grab the yellow rectangular bottle and shake.",
+    "Grab the hand-sized yellow plastic bottle and give it a shake.",
+    "Pick up the yellow bottle for liquid storage with the right arm and shake.",
+    "Pick up the yellow rectangular bottle and shake it.",
+    "Use the right arm to pick the yellow bottle for liquid storage.",
+    "Grab the hand-sized yellow plastic bottle, shake it properly, then set it down.",
+    "Pick up the hand-sized yellow plastic bottle and shake it.",
+    "Grab the hand-sized yellow plastic bottle and shake it.",
+    "Pick and shake the the yellow bottle for liquid storage with the right arm.",
+    "Shake the yellow bottle for liquid storage after picking it with the right arm.",
+    "Use the right arm to grab the yellow rectangular bottle and shake.",
+    "Grab the yellow rectangular bottle and give it a shake.",
+    "Pick up the hand-sized yellow plastic bottle with the right arm and shake.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Use the right arm to pick the hand-sized yellow plastic bottle.",
+    "Grab the yellow bottle for liquid storage, shake it properly, then set it down.",
+    "Pick up the yellow bottle for liquid storage and shake it.",
+    "Grab the yellow bottle for liquid storage and shake it.",
+    "Pick and shake the the hand-sized yellow plastic bottle with the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008040.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008040.json
new file mode 100644
index 0000000000000000000000000000000000000000..40fcfaeafb3c12b0f4177bf244ae5614cf03c561
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008040.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the hand-sized bottle with grooves and shake it gently.",
+    "Shake the brown bottle with white printed label after grabbing it.",
+    "Grasp the bottle with tapered cylindrical shape with the right arm and shake it.",
+    "Lift the small drink bottle with logo with the right arm and shake.",
+    "Take the small drink bottle with logo using the right arm and give it a shake.",
+    "Grab the brown bottle with green screw-on cap carefully and shake.",
+    "Hold the cylindrical bottle with white label and shake it properly.",
+    "Grab the small drink bottle with logo and shake it steadily.",
+    "Grip the smooth plastic bottle for beverages using the right arm and shake.",
+    "Use the right arm to grab the small brown plastic bottle and shake it.",
+    "Grab the bottle with green cap and give it a shake.",
+    "Use the right arm to lift and shake the small brown plastic bottle.",
+    "Use the right arm to grab the hand-sized bottle with grooves and shake properly.",
+    "Hold the small drink bottle with logo steady, then shake it.",
+    "Pick up the smooth plastic bottle for beverages and shake it well.",
+    "Lift the brown bottle with green screw-on cap with the right arm and shake it.",
+    "Lift the small drink bottle with logo and shake it thoroughly.",
+    "Grab the bottle with green cap with the right arm and shake.",
+    "Use the right arm to pick and shake the green-capped bottle.",
+    "Use the right arm to lift and shake the small drink bottle with logo.",
+    "Shake the cylindrical bottle with white label after lifting it.",
+    "Hold the bottle with green cap with the right arm and shake lightly.",
+    "Lift up the brown bottle with green screw-on cap using the right arm, then shake.",
+    "Grab and shake the brown bottle with white printed label using the right arm.",
+    "Hold and shake the the brown bottle with green screw-on cap carefully.",
+    "Catch the brown bottle with white printed label and shake it instantly.",
+    "Secure the bottle with green cap and perform a shake.",
+    "Shake the bottle with tapered cylindrical shape after grabbing it.",
+    "Shake the hand-sized bottle with grooves firmly after grabbing.",
+    "Grab the bottle with green cap using the right arm, then shake.",
+    "Grab the brown bottle firmly, shake it, and put it down.",
+    "Using the right arm, shake the green-capped bottle and then place it back.",
+    "Pick the small drink bottle with logo up using the right arm and shake it.",
+    "Pick the smooth plastic bottle for beverages up with the right arm and shake.",
+    "Pick up the plastic bottle with ribbed pattern and shake it.",
+    "Shake the bottle with green cap after holding it firmly.",
+    "Pick the plastic bottle with ribbed pattern and perform shaking motion.",
+    "Shake the the smooth plastic bottle for beverages properly after lifting.",
+    "Shake the bottle with tapered cylindrical shape using the right arm after grabbing.",
+    "Use the right arm to hold the green-capped bottle and shake it.",
+    "Utilize the right arm to hold the small brown plastic bottle and shake it.",
+    "With the right arm, pick the bottle with green cap and shake properly.",
+    "Use the right arm to lift and shake the hand-sized bottle with grooves.",
+    "Shake the small drink bottle with logo thoroughly after grabbing it.",
+    "Hold the cylindrical bottle with white label, shake it briefly.",
+    "Grab the bottle with tapered cylindrical shape and move it to shake.",
+    "Lift the green-capped bottle with the right arm and give it a shake.",
+    "Pick the hand-sized bottle with grooves, shake it with the right arm.",
+    "Shake the small brown plastic bottle after grabbing it.",
+    "Secure the brown bottle, shake it, and place it down.",
+    "Lift the hand-sized bottle with grooves and shake it gently.",
+    "Shake the brown bottle with green screw-on cap after grabbing it.",
+    "Grasp the brown bottle with white printed label with the right arm and shake it.",
+    "Lift the small drink bottle with logo with the right arm and shake.",
+    "Take the plastic bottle with ribbed pattern using the right arm and give it a shake.",
+    "Grab the green-capped bottle carefully and shake.",
+    "Hold the brown bottle with white printed label and shake it properly.",
+    "Grab the small drink bottle with logo and shake it steadily.",
+    "Grip the smooth plastic bottle for beverages using the right arm and shake.",
+    "Use the right arm to grab the cylindrical bottle with white label and shake it.",
+    "Grab the smooth plastic bottle for beverages and give it a shake.",
+    "Use the right arm to lift and shake the brown bottle.",
+    "Use the right arm to grab the bottle with green cap and shake properly.",
+    "Hold the hand-sized bottle with grooves steady, then shake it.",
+    "Pick up the bottle with tapered cylindrical shape and shake it well.",
+    "Lift the bottle with tapered cylindrical shape with the right arm and shake it.",
+    "Lift the green-capped bottle and shake it thoroughly.",
+    "Grab the cylindrical bottle with white label with the right arm and shake.",
+    "Use the right arm to pick and shake the bottle with tapered cylindrical shape.",
+    "Use the right arm to lift and shake the plastic bottle with ribbed pattern.",
+    "Shake the brown bottle after lifting it.",
+    "Hold the brown bottle with white printed label with the right arm and shake lightly.",
+    "Lift up the cylindrical bottle with white label using the right arm, then shake.",
+    "Grab and shake the green-capped bottle using the right arm.",
+    "Hold and shake the the brown bottle with green screw-on cap carefully.",
+    "Catch the green-capped bottle and shake it instantly.",
+    "Secure the bottle with green cap and perform a shake.",
+    "Shake the brown bottle with white printed label after grabbing it.",
+    "Shake the bottle with tapered cylindrical shape firmly after grabbing.",
+    "Grab the brown bottle with green screw-on cap using the right arm, then shake.",
+    "Grab the brown bottle with green screw-on cap firmly, shake it, and put it down.",
+    "Using the right arm, shake the cylindrical bottle with white label and then place it back.",
+    "Pick the small brown plastic bottle up using the right arm and shake it.",
+    "Pick the bottle with tapered cylindrical shape up with the right arm and shake.",
+    "Pick up the small brown plastic bottle and shake it.",
+    "Shake the brown bottle after holding it firmly.",
+    "Pick the smooth plastic bottle for beverages and perform shaking motion.",
+    "Shake the the smooth plastic bottle for beverages properly after lifting.",
+    "Shake the plastic bottle with ribbed pattern using the right arm after grabbing.",
+    "Use the right arm to hold the bottle with tapered cylindrical shape and shake it.",
+    "Utilize the right arm to hold the plastic bottle with ribbed pattern and shake it.",
+    "With the right arm, pick the plastic bottle with ribbed pattern and shake properly.",
+    "Use the right arm to lift and shake the brown bottle.",
+    "Shake the hand-sized bottle with grooves thoroughly after grabbing it.",
+    "Hold the brown bottle with white printed label, shake it briefly.",
+    "Grab the bottle with tapered cylindrical shape and move it to shake.",
+    "Lift the plastic bottle with ribbed pattern with the right arm and give it a shake.",
+    "Pick the hand-sized bottle with grooves, shake it with the right arm.",
+    "Shake the hand-sized bottle with grooves after grabbing it.",
+    "Secure the green-capped bottle, shake it, and place it down."
+  ],
+  "unseen": [
+    "Use the right arm to grab the plastic Starbucks bottle and shake.",
+    "Grab the bottle with coffee-colored body and give it a shake.",
+    "Grab the bottle with coffee-colored body and shake it.",
+    "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.",
+    "Pick up the bottle with coffee-colored body with the right arm and shake.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Pick and shake the the bottle with coffee-colored body with the right arm.",
+    "Shake the plastic Starbucks bottle after picking it with the right arm.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Use the right arm to pick the plastic Starbucks bottle.",
+    "Use the right arm to grab the bottle with coffee-colored body and shake.",
+    "Grab the bottle with coffee-colored body and give it a shake.",
+    "Grab the bottle with coffee-colored body and shake it.",
+    "Grab the bottle with coffee-colored body, shake it properly, then set it down.",
+    "Pick up the bottle with coffee-colored body with the right arm and shake.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Pick and shake the the bottle with coffee-colored body with the right arm.",
+    "Shake the bottle with coffee-colored body after picking it with the right arm.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Use the right arm to pick the plastic Starbucks bottle.",
+    "Use the right arm to grab the bottle with Starbucks logo on label and shake.",
+    "Grab the bottle with Starbucks logo on label and give it a shake.",
+    "Grab the plastic Starbucks bottle and shake it.",
+    "Grab the bottle with coffee-colored body, shake it properly, then set it down.",
+    "Pick up the bottle with coffee-colored body with the right arm and shake.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Pick and shake the the bottle with Starbucks logo on label with the right arm.",
+    "Shake the plastic Starbucks bottle after picking it with the right arm.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Use the right arm to pick the bottle with coffee-colored body.",
+    "Use the right arm to grab the bottle with coffee-colored body and shake.",
+    "Grab the bottle with Starbucks logo on label and give it a shake.",
+    "Grab the bottle with Starbucks logo on label and shake it.",
+    "Grab the plastic Starbucks bottle, shake it properly, then set it down.",
+    "Pick up the bottle with coffee-colored body with the right arm and shake.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Pick and shake the the bottle with Starbucks logo on label with the right arm.",
+    "Shake the bottle with coffee-colored body after picking it with the right arm.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Use the right arm to pick the bottle with Starbucks logo on label.",
+    "Use the right arm to grab the bottle with coffee-colored body and shake.",
+    "Grab the bottle with Starbucks logo on label and give it a shake.",
+    "Grab the bottle with coffee-colored body and shake it.",
+    "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.",
+    "Pick up the bottle with coffee-colored body with the right arm and shake.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Pick and shake the the plastic Starbucks bottle with the right arm.",
+    "Shake the bottle with coffee-colored body after picking it with the right arm.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Use the right arm to pick the bottle with coffee-colored body.",
+    "Use the right arm to grab the plastic Starbucks bottle and shake.",
+    "Grab the bottle with coffee-colored body and give it a shake.",
+    "Grab the bottle with coffee-colored body and shake it.",
+    "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.",
+    "Pick up the plastic Starbucks bottle with the right arm and shake.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Pick and shake the the bottle with coffee-colored body with the right arm.",
+    "Shake the bottle with coffee-colored body after picking it with the right arm.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Use the right arm to pick the bottle with Starbucks logo on label.",
+    "Use the right arm to grab the bottle with coffee-colored body and shake.",
+    "Grab the plastic Starbucks bottle and give it a shake.",
+    "Grab the plastic Starbucks bottle and shake it.",
+    "Grab the bottle with coffee-colored body, shake it properly, then set it down.",
+    "Pick up the bottle with Starbucks logo on label with the right arm and shake.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Pick and shake the the bottle with Starbucks logo on label with the right arm.",
+    "Shake the plastic Starbucks bottle after picking it with the right arm.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Use the right arm to pick the bottle with coffee-colored body.",
+    "Use the right arm to grab the bottle with Starbucks logo on label and shake.",
+    "Grab the bottle with Starbucks logo on label and give it a shake.",
+    "Grab the bottle with Starbucks logo on label and shake it.",
+    "Grab the bottle with coffee-colored body, shake it properly, then set it down.",
+    "Pick up the bottle with Starbucks logo on label with the right arm and shake.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Pick and shake the the bottle with Starbucks logo on label with the right arm.",
+    "Shake the plastic Starbucks bottle after picking it with the right arm.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Use the right arm to pick the plastic Starbucks bottle.",
+    "Use the right arm to grab the bottle with coffee-colored body and shake.",
+    "Grab the bottle with coffee-colored body and give it a shake.",
+    "Grab the bottle with coffee-colored body and shake it.",
+    "Grab the bottle with Starbucks logo on label, shake it properly, then set it down.",
+    "Pick up the bottle with coffee-colored body with the right arm and shake.",
+    "Pick up the bottle with Starbucks logo on label and shake it.",
+    "Pick and shake the the bottle with Starbucks logo on label with the right arm.",
+    "Shake the bottle with coffee-colored body after picking it with the right arm.",
+    "Pick up the bottle with coffee-colored body and shake it.",
+    "Use the right arm to pick the plastic Starbucks bottle.",
+    "Use the right arm to grab the plastic Starbucks bottle and shake.",
+    "Grab the bottle with Starbucks logo on label and give it a shake.",
+    "Grab the bottle with coffee-colored body and shake it.",
+    "Grab the plastic Starbucks bottle, shake it properly, then set it down.",
+    "Pick up the bottle with Starbucks logo on label with the right arm and shake.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Pick and shake the the bottle with Starbucks logo on label with the right arm.",
+    "Shake the plastic Starbucks bottle after picking it with the right arm.",
+    "Pick up the plastic Starbucks bottle and shake it.",
+    "Use the right arm to pick the bottle with Starbucks logo on label."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008122.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008122.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1d659f83e00e32fdc7b59c8c8638fc193fd280d
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008122.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the bottle with ridges near base and shake it properly.",
+    "Grab the handheld green bottle firmly, shake it, and put it down.",
+    "Grab the bottle with narrow top and shake it steadily.",
+    "Lift the smooth green plastic bottle with the left arm and shake it.",
+    "Secure the plastic bottle and perform a shake.",
+    "Hold the bottle with narrow top, shake it briefly.",
+    "Secure the bottle with ridges near base, shake it, and place it down.",
+    "Shake the green bottle with indented base firmly after grabbing.",
+    "Pick the bottle with narrow top, shake it with the left arm.",
+    "Lift up the bottle with white printed label using the left arm, then shake.",
+    "Hold and shake the the handheld green bottle carefully.",
+    "Grip the green bottle with indented base using the left arm and shake.",
+    "Use the left arm to lift and shake the medium green bottle.",
+    "Hold the bottle with rounded neck with the left arm and shake lightly.",
+    "Grab and shake the bottle with white printed label using the left arm.",
+    "Use the left arm to grab the smooth green bottle and shake properly.",
+    "Use the left arm to grab the bottle with narrow top and shake it.",
+    "Take the plastic bottle using the left arm and give it a shake.",
+    "Pick the handheld green bottle and perform shaking motion.",
+    "With the left arm, pick the plastic bottle and shake properly.",
+    "Grab the medium green bottle with capped neck carefully and shake.",
+    "Pick up the handheld green bottle and shake it well.",
+    "Lift the medium-sized green bottle and shake it thoroughly.",
+    "Lift the plastic bottle and shake it gently.",
+    "Shake the medium green bottle after holding it firmly.",
+    "Catch the bottle with white printed label and shake it instantly.",
+    "Lift the bottle with narrow top with the left arm and shake.",
+    "Use the left arm to hold the green bottle with indented base and shake it.",
+    "Grab the green bottle with indented base using the left arm, then shake.",
+    "Use the left arm to lift and shake the bottle with narrow top.",
+    "Shake the the bottle with rounded neck properly after lifting.",
+    "Use the left arm to pick and shake the medium-sized green bottle.",
+    "Use the left arm to lift and shake the bottle with white printed label.",
+    "Shake the medium green bottle after grabbing it.",
+    "Lift the bottle with rounded neck with the left arm and give it a shake.",
+    "Shake the bottle with ridges near base after grabbing it.",
+    "Pick up the plastic bottle and shake it.",
+    "Pick the bottle with ridges near base up using the left arm and shake it.",
+    "Hold the smooth green bottle steady, then shake it.",
+    "Pick the smooth green bottle up with the left arm and shake.",
+    "Shake the bottle with rounded neck after lifting it.",
+    "Grab the green bottle with indented base and give it a shake.",
+    "Using the left arm, shake the handheld green bottle and then place it back.",
+    "Shake the medium green bottle thoroughly after grabbing it.",
+    "Shake the handheld green bottle using the left arm after grabbing.",
+    "Shake the medium green bottle with capped neck after grabbing it.",
+    "Utilize the left arm to hold the bottle with rounded neck and shake it.",
+    "Grab the bottle with white printed label with the left arm and shake.",
+    "Grasp the bottle with rounded neck with the left arm and shake it.",
+    "Grab the handheld green bottle and move it to shake.",
+    "Hold the plastic bottle and shake it properly.",
+    "Grab the medium green bottle firmly, shake it, and put it down.",
+    "Grab the medium green bottle with capped neck and shake it steadily.",
+    "Lift the plastic bottle with the left arm and shake it.",
+    "Secure the green bottle with indented base and perform a shake.",
+    "Hold the smooth green plastic bottle, shake it briefly.",
+    "Secure the smooth green bottle, shake it, and place it down.",
+    "Shake the bottle with white printed label firmly after grabbing.",
+    "Pick the medium green bottle with capped neck, shake it with the left arm.",
+    "Lift up the bottle with narrow top using the left arm, then shake.",
+    "Hold and shake the the bottle with white printed label carefully.",
+    "Grip the medium green bottle with capped neck using the left arm and shake.",
+    "Use the left arm to lift and shake the medium-sized green bottle.",
+    "Hold the bottle with white printed label with the left arm and shake lightly.",
+    "Grab and shake the plastic bottle using the left arm.",
+    "Use the left arm to grab the bottle with narrow top and shake properly.",
+    "Use the left arm to grab the bottle with narrow top and shake it.",
+    "Take the handheld green bottle using the left arm and give it a shake.",
+    "Pick the bottle with white printed label and perform shaking motion.",
+    "With the left arm, pick the medium green bottle with capped neck and shake properly.",
+    "Grab the smooth green bottle carefully and shake.",
+    "Pick up the handheld green bottle and shake it well.",
+    "Lift the bottle with rounded neck and shake it thoroughly.",
+    "Lift the bottle with ridges near base and shake it gently.",
+    "Shake the handheld green bottle after holding it firmly.",
+    "Catch the medium-sized green bottle and shake it instantly.",
+    "Lift the bottle with ridges near base with the left arm and shake.",
+    "Use the left arm to hold the bottle with narrow top and shake it.",
+    "Grab the green bottle with indented base using the left arm, then shake.",
+    "Use the left arm to lift and shake the green bottle with indented base.",
+    "Shake the the green bottle with indented base properly after lifting.",
+    "Use the left arm to pick and shake the medium-sized green bottle.",
+    "Use the left arm to lift and shake the medium-sized green bottle.",
+    "Shake the plastic bottle after grabbing it.",
+    "Lift the bottle with narrow top with the left arm and give it a shake.",
+    "Shake the smooth green bottle after grabbing it.",
+    "Pick up the medium green bottle with capped neck and shake it.",
+    "Pick the bottle with narrow top up using the left arm and shake it.",
+    "Hold the smooth green plastic bottle steady, then shake it.",
+    "Pick the bottle with ridges near base up with the left arm and shake.",
+    "Shake the smooth green plastic bottle after lifting it.",
+    "Grab the medium-sized green bottle and give it a shake.",
+    "Using the left arm, shake the smooth green plastic bottle and then place it back.",
+    "Shake the smooth green plastic bottle thoroughly after grabbing it.",
+    "Shake the medium green bottle with capped neck using the left arm after grabbing.",
+    "Shake the bottle with white printed label after grabbing it.",
+    "Utilize the left arm to hold the bottle with white printed label and shake it.",
+    "Grab the smooth green bottle with the left arm and shake.",
+    "Grasp the medium green bottle with capped neck with the left arm and shake it.",
+    "Grab the plastic bottle and move it to shake."
+  ],
+  "unseen": [
+    "Use the left arm to pick the green bottle.",
+    "Use the left arm to grab the green bottle and shake.",
+    "Pick up the green bottle and shake it.",
+    "Grab the green bottle and give it a shake.",
+    "Pick up the green bottle with white label and shake it.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Grab the green bottle with white label and shake it.",
+    "Pick and shake the the green bottle with the left arm.",
+    "Shake the green bottle with white label after picking it with the left arm.",
+    "Pick up the green bottle with the left arm and shake.",
+    "Use the left arm to pick the green bottle.",
+    "Use the left arm to grab the green bottle and shake.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Pick up the green bottle and shake it.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Grab the green bottle with white label and shake it.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the left arm.",
+    "Shake the green plastic bottle with ridged bottom after picking it with the left arm.",
+    "Pick up the green plastic bottle with ridged bottom with the left arm and shake.",
+    "Use the left arm to pick the green bottle with white label.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Pick up the green bottle with white label and shake it.",
+    "Grab the green bottle and give it a shake.",
+    "Pick up the green bottle with white label and shake it.",
+    "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Grab the green bottle with white label and shake it.",
+    "Pick and shake the the green bottle with the left arm.",
+    "Shake the green plastic bottle with ridged bottom after picking it with the left arm.",
+    "Pick up the green bottle with white label with the left arm and shake.",
+    "Use the left arm to pick the green bottle.",
+    "Use the left arm to grab the green bottle with white label and shake.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Pick and shake the the green bottle with white label with the left arm.",
+    "Shake the green bottle with white label after picking it with the left arm.",
+    "Pick up the green bottle with the left arm and shake.",
+    "Use the left arm to pick the green plastic bottle with ridged bottom.",
+    "Use the left arm to grab the green bottle and shake.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Grab the green bottle and shake it.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the left arm.",
+    "Shake the green plastic bottle with ridged bottom after picking it with the left arm.",
+    "Pick up the green bottle with the left arm and shake.",
+    "Use the left arm to pick the green bottle with white label.",
+    "Use the left arm to grab the green bottle with white label and shake.",
+    "Pick up the green bottle and shake it.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "Pick up the green bottle and shake it.",
+    "Grab the green bottle with white label, shake it properly, then set it down.",
+    "Grab the green bottle with white label and shake it.",
+    "Pick and shake the the green bottle with the left arm.",
+    "Shake the green bottle after picking it with the left arm.",
+    "Pick up the green bottle with the left arm and shake.",
+    "Use the left arm to pick the green bottle with white label.",
+    "Use the left arm to grab the green bottle with white label and shake.",
+    "Pick up the green bottle and shake it.",
+    "Grab the green bottle and give it a shake.",
+    "Pick up the green bottle with white label and shake it.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Grab the green bottle with white label and shake it.",
+    "Pick and shake the the green bottle with the left arm.",
+    "Shake the green bottle with white label after picking it with the left arm.",
+    "Pick up the green plastic bottle with ridged bottom with the left arm and shake.",
+    "Use the left arm to pick the green bottle with white label.",
+    "Use the left arm to grab the green bottle and shake.",
+    "Pick up the green bottle and shake it.",
+    "Grab the green bottle and give it a shake.",
+    "Pick up the green bottle and shake it.",
+    "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 and shake the the green bottle with white label with the left arm.",
+    "Shake the green bottle after picking it with the left arm.",
+    "Pick up the green bottle with the left arm and shake.",
+    "Use the left arm to pick the green bottle with white label.",
+    "Use the left arm to grab the green bottle with white label and shake.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "Pick up the green bottle and shake it.",
+    "Grab the green bottle with white label, shake it properly, then set it down.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the left arm.",
+    "Shake the green plastic bottle with ridged bottom after picking it with the left arm.",
+    "Pick up the green bottle with the left arm and shake.",
+    "Use the left arm to pick the green bottle with white label.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Pick up the green bottle with white label and shake it.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Pick up the green bottle and shake it.",
+    "Grab the green bottle with white label, shake it properly, then set it down.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Pick and shake the the green bottle with white label with the left arm.",
+    "Shake the green bottle after picking it with the left arm.",
+    "Pick up the green plastic bottle with ridged bottom with the left arm and shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008147.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008147.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b5b1d082ca01fd8af0bc7a2d9f86e25566c71bd
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008147.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the yellow-capped orange plastic bottle with the left arm and shake.",
+    "Pick the smooth orange cylindrical bottle up using the left arm and shake it.",
+    "Shake the rounded orange bottle with yellow top after holding it firmly.",
+    "Pick the yellow-capped orange plastic bottle, shake it with the left arm.",
+    "Shake the bottle with yellow cap after lifting it.",
+    "Use the left arm to lift and shake the small bottle with bright yellow lid.",
+    "Grab the orange bottle with bold labeling with the left arm and shake.",
+    "Grab the bottle with yellow cap and move it to shake.",
+    "Shake the smooth orange cylindrical bottle firmly after grabbing.",
+    "Lift the smooth orange cylindrical bottle and shake it gently.",
+    "Lift the cylindrical orange bottle with smooth surface and shake it thoroughly.",
+    "Pick the rounded bottom orange plastic bottle and perform shaking motion.",
+    "Hold the cylindrical orange bottle with smooth surface and shake it properly.",
+    "Grab the rounded bottom orange plastic bottle firmly, shake it, and put it down.",
+    "Lift the orange bottle with bold labeling with the left arm and shake it.",
+    "Lift the handheld medium-sized liquid bottle with the left arm and give it a shake.",
+    "Using the left arm, shake the smooth orange cylindrical bottle and then place it back.",
+    "Shake the smooth orange cylindrical bottle using the left arm after grabbing.",
+    "Use the left arm to grab the orange bottle and shake it.",
+    "Shake the yellow-capped orange plastic bottle after grabbing it.",
+    "Grab the yellow-capped bottle for beverages carefully and shake.",
+    "Shake the yellow-capped orange plastic bottle after grabbing it.",
+    "Grip the orange bottle with bold labeling using the left arm and shake.",
+    "Hold the yellow-capped orange plastic bottle steady, then shake it.",
+    "Secure the handheld medium-sized liquid bottle, shake it, and place it down.",
+    "Hold the small bottle with bright yellow lid, shake it briefly.",
+    "Pick up the handheld medium-sized liquid bottle and shake it well.",
+    "Catch the small bottle with bright yellow lid and shake it instantly.",
+    "Hold the smooth orange cylindrical bottle with the left arm and shake lightly.",
+    "Grab the rounded orange bottle with yellow top and shake it steadily.",
+    "Grasp the yellow-capped bottle for beverages with the left arm and shake it.",
+    "Take the yellow-capped bottle for beverages using the left arm and give it a shake.",
+    "Utilize the left arm to hold the rounded orange bottle with yellow top and shake it.",
+    "Hold and shake the the liquid container with orange body carefully.",
+    "Shake the the yellow-capped orange plastic bottle properly after lifting.",
+    "Pick up the cylindrical orange bottle with smooth surface and shake it.",
+    "Grab and shake the orange bottle using the left arm.",
+    "Secure the yellow-capped bottle for beverages and perform a shake.",
+    "With the left arm, pick the liquid container with orange body and shake properly.",
+    "Use the left arm to grab the handheld medium-sized liquid bottle and shake properly.",
+    "Use the left arm to lift and shake the orange bottle.",
+    "Use the left arm to lift and shake the rounded bottom orange plastic bottle.",
+    "Grab the handheld medium-sized liquid bottle using the left arm, then shake.",
+    "Use the left arm to pick and shake the orange bottle.",
+    "Pick the cylindrical orange bottle with smooth surface up with the left arm and shake.",
+    "Shake the liquid container with orange body thoroughly after grabbing it.",
+    "Use the left arm to hold the yellow-capped orange plastic bottle and shake it.",
+    "Shake the handheld medium-sized liquid bottle after grabbing it.",
+    "Lift up the smooth orange cylindrical bottle using the left arm, then shake.",
+    "Grab the orange bottle with bold labeling and give it a shake.",
+    "Lift the liquid container with orange body with the left arm and shake.",
+    "Pick the rounded bottom orange plastic bottle up using the left arm and shake it.",
+    "Shake the cylindrical orange bottle with smooth surface after holding it firmly.",
+    "Pick the liquid container with orange body, shake it with the left arm.",
+    "Shake the smooth orange cylindrical bottle after lifting it.",
+    "Use the left arm to lift and shake the handheld medium-sized liquid bottle.",
+    "Grab the liquid container with orange body with the left arm and shake.",
+    "Grab the orange bottle and move it to shake.",
+    "Shake the bottle with yellow cap firmly after grabbing.",
+    "Lift the rounded bottom orange plastic bottle and shake it gently.",
+    "Lift the bottle with yellow cap and shake it thoroughly.",
+    "Pick the liquid container with orange body and perform shaking motion.",
+    "Hold the bottle with yellow cap and shake it properly.",
+    "Grab the orange bottle with bold labeling firmly, shake it, and put it down.",
+    "Lift the rounded bottom orange plastic bottle with the left arm and shake it.",
+    "Lift the bottle with yellow cap with the left arm and give it a shake.",
+    "Using the left arm, shake the orange bottle with bold labeling and then place it back.",
+    "Shake the small bottle with bright yellow lid using the left arm after grabbing.",
+    "Use the left arm to grab the rounded bottom orange plastic bottle and shake it.",
+    "Shake the liquid container with orange body after grabbing it.",
+    "Grab the cylindrical orange bottle with smooth surface carefully and shake.",
+    "Shake the smooth orange cylindrical bottle after grabbing it.",
+    "Grip the yellow-capped bottle for beverages using the left arm and shake.",
+    "Hold the bottle with yellow cap steady, then shake it.",
+    "Secure the smooth orange cylindrical bottle, shake it, and place it down.",
+    "Hold the orange bottle, shake it briefly.",
+    "Pick up the rounded bottom orange plastic bottle and shake it well.",
+    "Catch the liquid container with orange body and shake it instantly.",
+    "Hold the cylindrical orange bottle with smooth surface with the left arm and shake lightly.",
+    "Grab the small bottle with bright yellow lid and shake it steadily.",
+    "Grasp the liquid container with orange body with the left arm and shake it.",
+    "Take the bottle with yellow cap using the left arm and give it a shake.",
+    "Utilize the left arm to hold the bottle with yellow cap and shake it.",
+    "Hold and shake the the orange bottle carefully.",
+    "Shake the the orange bottle with bold labeling properly after lifting.",
+    "Pick up the rounded bottom orange plastic bottle and shake it.",
+    "Grab and shake the orange bottle using the left arm.",
+    "Secure the yellow-capped orange plastic bottle and perform a shake.",
+    "With the left arm, pick the cylindrical orange bottle with smooth surface and shake properly.",
+    "Use the left arm to grab the orange bottle with bold labeling and shake properly.",
+    "Use the left arm to lift and shake the smooth orange cylindrical bottle.",
+    "Use the left arm to lift and shake the orange bottle with bold labeling.",
+    "Grab the liquid container with orange body using the left arm, then shake.",
+    "Use the left arm to pick and shake the handheld medium-sized liquid bottle.",
+    "Pick the smooth orange cylindrical bottle up with the left arm and shake.",
+    "Shake the small bottle with bright yellow lid thoroughly after grabbing it.",
+    "Use the left arm to hold the small bottle with bright yellow lid and shake it.",
+    "Shake the small bottle with bright yellow lid after grabbing it.",
+    "Lift up the rounded bottom orange plastic bottle using the left arm, then shake.",
+    "Grab the bottle with yellow cap and give it a shake."
+  ],
+  "unseen": [
+    "Pick and shake the the medium plastic bottle with the left arm.",
+    "Use the left arm to grab the medium plastic bottle and shake.",
+    "Shake the medium bottle for liquids after picking it with the left arm.",
+    "Use the left arm to pick the medium plastic bottle.",
+    "Pick up the medium bottle for liquids with the left arm and shake.",
+    "Grab the medium plastic bottle, shake it properly, then set it down.",
+    "Grab the plastic orange bottle with rounded base and shake it.",
+    "Pick up the medium bottle for liquids and shake it.",
+    "Grab the plastic orange bottle with rounded base and give it a shake.",
+    "Pick up the medium plastic bottle and shake it.",
+    "Pick and shake the the medium plastic bottle with the left arm.",
+    "Use the left arm to grab the plastic orange bottle with rounded base and shake.",
+    "Shake the medium bottle for liquids after picking it with the left arm.",
+    "Use the left arm to pick the plastic orange bottle with rounded base.",
+    "Pick up the medium plastic bottle with the left arm and shake.",
+    "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.",
+    "Grab the medium plastic bottle and shake it.",
+    "Pick up the medium plastic bottle and shake it.",
+    "Grab the medium bottle for liquids and give it a shake.",
+    "Pick up the medium bottle for liquids and shake it.",
+    "Pick and shake the the plastic orange bottle with rounded base with the left arm.",
+    "Use the left arm to grab the medium bottle for liquids and shake.",
+    "Shake the plastic orange bottle with rounded base after picking it with the left arm.",
+    "Use the left arm to pick the medium plastic bottle.",
+    "Pick up the medium plastic bottle with the left arm and shake.",
+    "Grab the medium plastic bottle, shake it properly, then set it down.",
+    "Grab the medium plastic bottle and shake it.",
+    "Pick up the medium bottle for liquids and shake it.",
+    "Grab the medium plastic bottle and give it a shake.",
+    "Pick up the medium plastic bottle and shake it.",
+    "Pick and shake the the medium bottle for liquids with the left arm.",
+    "Use the left arm to grab the medium plastic bottle and shake.",
+    "Shake the plastic orange bottle with rounded base after picking it with the left arm.",
+    "Use the left arm to pick the medium plastic bottle.",
+    "Pick up the medium bottle for liquids with the left arm and shake.",
+    "Grab the medium plastic bottle, shake it properly, then set it down.",
+    "Grab the medium plastic bottle and shake it.",
+    "Pick up the medium bottle for liquids and shake it.",
+    "Grab the medium bottle for liquids and give it a shake.",
+    "Pick up the medium bottle for liquids and shake it.",
+    "Pick and shake the the plastic orange bottle with rounded base with the left arm.",
+    "Use the left arm to grab the medium plastic bottle and shake.",
+    "Shake the medium plastic bottle after picking it with the left arm.",
+    "Use the left arm to pick the medium bottle for liquids.",
+    "Pick up the plastic orange bottle with rounded base with the left arm and shake.",
+    "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.",
+    "Grab the medium bottle for liquids and shake it.",
+    "Pick up the medium bottle for liquids and shake it.",
+    "Grab the medium plastic bottle and give it a shake.",
+    "Pick up the plastic orange bottle with rounded base and shake it.",
+    "Pick and shake the the plastic orange bottle with rounded base with the left arm.",
+    "Use the left arm to grab the plastic orange bottle with rounded base and shake.",
+    "Shake the plastic orange bottle with rounded base after picking it with the left arm.",
+    "Use the left arm to pick the plastic orange bottle with rounded base.",
+    "Pick up the medium bottle for liquids with the left arm and shake.",
+    "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.",
+    "Grab the plastic orange bottle with rounded base and shake it.",
+    "Pick up the plastic orange bottle with rounded base and shake it.",
+    "Grab the plastic orange bottle with rounded base and give it a shake.",
+    "Pick up the medium bottle for liquids and shake it.",
+    "Pick and shake the the medium plastic bottle with the left arm.",
+    "Use the left arm to grab the plastic orange bottle with rounded base and shake.",
+    "Shake the medium plastic bottle after picking it with the left arm.",
+    "Use the left arm to pick the medium plastic bottle.",
+    "Pick up the medium plastic bottle with the left arm and shake.",
+    "Grab the plastic orange bottle with rounded base, shake it properly, then set it down.",
+    "Grab the medium plastic bottle and shake it.",
+    "Pick up the medium plastic bottle and shake it.",
+    "Grab the medium plastic bottle and give it a shake.",
+    "Pick up the plastic orange bottle with rounded base and shake it.",
+    "Pick and shake the the medium bottle for liquids with the left arm.",
+    "Use the left arm to grab the medium plastic bottle and shake.",
+    "Shake the plastic orange bottle with rounded base after picking it with the left arm.",
+    "Use the left arm to pick the medium bottle for liquids.",
+    "Pick up the medium bottle for liquids with the left arm and shake.",
+    "Grab the medium bottle for liquids, shake it properly, then set it down.",
+    "Grab the medium bottle for liquids and shake it.",
+    "Pick up the medium bottle for liquids and shake it.",
+    "Grab the plastic orange bottle with rounded base and give it a shake.",
+    "Pick up the medium bottle for liquids and shake it.",
+    "Pick and shake the the plastic orange bottle with rounded base with the left arm.",
+    "Use the left arm to grab the medium bottle for liquids and shake.",
+    "Shake the medium plastic bottle after picking it with the left arm.",
+    "Use the left arm to pick the medium bottle for liquids.",
+    "Pick up the medium bottle for liquids with the left arm and shake.",
+    "Grab the medium plastic bottle, shake it properly, then set it down.",
+    "Grab the plastic orange bottle with rounded base and shake it.",
+    "Pick up the medium bottle for liquids and shake it.",
+    "Grab the medium bottle for liquids and give it a shake.",
+    "Pick up the medium bottle for liquids and shake it.",
+    "Pick and shake the the medium bottle for liquids with the left arm.",
+    "Use the left arm to grab the medium bottle for liquids and shake.",
+    "Shake the medium plastic bottle after picking it with the left arm.",
+    "Use the left arm to pick the medium plastic bottle.",
+    "Pick up the medium bottle for liquids with the left arm and shake.",
+    "Grab the medium bottle for liquids, shake it properly, then set it down.",
+    "Grab the medium bottle for liquids and shake it.",
+    "Pick up the medium plastic bottle and shake it.",
+    "Grab the medium bottle for liquids and give it a shake.",
+    "Pick up the medium plastic bottle and shake it."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008155.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008155.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7e87c58ed35f7904fcde8974930a11a47c09d17
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008155.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Utilize the right arm to hold the orange cylindrical bottle and shake it.",
+    "Pick the cylindrical orange bottle with yellow top up with the right arm and shake.",
+    "Lift up the yellow-capped plastic bottle using the right arm, then shake.",
+    "Shake the medium-sized orange bottle after grabbing it.",
+    "Pick up the smooth plastic bottle and shake it.",
+    "Hold the orange cylindrical bottle steady, then shake it.",
+    "Shake the bottle for liquids thoroughly after grabbing it.",
+    "Use the right arm to lift and shake the bottle with printed label.",
+    "Grab the plastic bottle carefully and shake.",
+    "Shake the plastic bottle with sealed yellow cap after holding it firmly.",
+    "Shake the plastic bottle firmly after grabbing.",
+    "Use the right arm to lift and shake the plastic bottle with sealed yellow cap.",
+    "Grab and shake the cylindrical orange bottle with yellow top using the right arm.",
+    "Grab the bottle with yellow cap using the right arm, then shake.",
+    "Use the right arm to hold the smooth plastic bottle and shake it.",
+    "Shake the medium-sized orange bottle after lifting it.",
+    "Pick the orange cylindrical bottle, shake it with the right arm.",
+    "Shake the cylindrical orange bottle with yellow top using the right arm after grabbing.",
+    "Use the right arm to lift and shake the plastic bottle with sealed yellow cap.",
+    "Shake the orange cylindrical bottle after grabbing it.",
+    "Hold the bottle with printed label with the right arm and shake lightly.",
+    "Grasp the medium-sized orange bottle with the right arm and shake it.",
+    "Pick the cylindrical orange bottle with yellow top up using the right arm and shake it.",
+    "Take the bottle with narrow neck using the right arm and give it a shake.",
+    "Grab the plastic bottle with sealed yellow cap and give it a shake.",
+    "Use the right arm to pick and shake the plastic bottle.",
+    "Pick up the smooth plastic bottle and shake it well.",
+    "Grab the plastic bottle and shake it steadily.",
+    "With the right arm, pick the yellow-capped plastic bottle and shake properly.",
+    "Hold the bottle with yellow cap and shake it properly.",
+    "Lift the bottle with narrow neck and shake it thoroughly.",
+    "Grab the plastic bottle with sealed yellow cap and move it to shake.",
+    "Shake the bottle with yellow cap after grabbing it.",
+    "Grab the cylindrical orange bottle with yellow top firmly, shake it, and put it down.",
+    "Grab the smooth plastic bottle with the right arm and shake.",
+    "Hold and shake the the bottle for liquids carefully.",
+    "Grip the yellow-capped plastic bottle using the right arm and shake.",
+    "Use the right arm to grab the plastic bottle and shake it.",
+    "Lift the cylindrical orange bottle with yellow top with the right arm and give it a shake.",
+    "Using the right arm, shake the orange bottle and then place it back.",
+    "Lift the medium-sized orange bottle with the right arm and shake it.",
+    "Lift the medium-sized orange bottle and shake it gently.",
+    "Use the right arm to grab the bottle for liquids and shake properly.",
+    "Lift the bottle for liquids with the right arm and shake.",
+    "Secure the bottle with yellow cap and perform a shake.",
+    "Secure the cylindrical orange bottle with yellow top, shake it, and place it down.",
+    "Catch the smooth plastic bottle and shake it instantly.",
+    "Pick the bottle with printed label and perform shaking motion.",
+    "Hold the plastic bottle, shake it briefly.",
+    "Shake the the bottle with printed label properly after lifting.",
+    "Utilize the right arm to hold the yellow-capped plastic bottle and shake it.",
+    "Pick the bottle for liquids up with the right arm and shake.",
+    "Lift up the plastic bottle using the right arm, then shake.",
+    "Shake the bottle with narrow neck after grabbing it.",
+    "Pick up the yellow-capped plastic bottle and shake it.",
+    "Hold the bottle with yellow cap steady, then shake it.",
+    "Shake the plastic bottle thoroughly after grabbing it.",
+    "Use the right arm to lift and shake the plastic bottle with sealed yellow cap.",
+    "Grab the plastic bottle with sealed yellow cap carefully and shake.",
+    "Shake the orange cylindrical bottle after holding it firmly.",
+    "Shake the bottle with yellow cap firmly after grabbing.",
+    "Use the right arm to lift and shake the yellow-capped plastic bottle.",
+    "Grab and shake the smooth plastic bottle using the right arm.",
+    "Grab the medium-sized orange bottle using the right arm, then shake.",
+    "Use the right arm to hold the plastic bottle with sealed yellow cap and shake it.",
+    "Shake the plastic bottle after lifting it.",
+    "Pick the medium-sized orange bottle, shake it with the right arm.",
+    "Shake the orange cylindrical bottle using the right arm after grabbing.",
+    "Use the right arm to lift and shake the bottle with yellow cap.",
+    "Shake the bottle with printed label after grabbing it.",
+    "Hold the bottle for liquids with the right arm and shake lightly.",
+    "Grasp the orange bottle with the right arm and shake it.",
+    "Pick the smooth plastic bottle up using the right arm and shake it.",
+    "Take the bottle with printed label using the right arm and give it a shake.",
+    "Grab the orange cylindrical bottle and give it a shake.",
+    "Use the right arm to pick and shake the smooth plastic bottle.",
+    "Pick up the orange bottle and shake it well.",
+    "Grab the bottle with narrow neck and shake it steadily.",
+    "With the right arm, pick the orange bottle and shake properly.",
+    "Hold the orange bottle and shake it properly.",
+    "Lift the cylindrical orange bottle with yellow top and shake it thoroughly.",
+    "Grab the smooth plastic bottle and move it to shake.",
+    "Shake the bottle for liquids after grabbing it.",
+    "Grab the bottle with printed label firmly, shake it, and put it down.",
+    "Grab the bottle with yellow cap with the right arm and shake.",
+    "Hold and shake the the orange bottle carefully.",
+    "Grip the smooth plastic bottle using the right arm and shake.",
+    "Use the right arm to grab the bottle for liquids and shake it.",
+    "Lift the orange cylindrical bottle with the right arm and give it a shake.",
+    "Using the right arm, shake the plastic bottle and then place it back.",
+    "Lift the plastic bottle with the right arm and shake it.",
+    "Lift the bottle with yellow cap and shake it gently.",
+    "Use the right arm to grab the bottle with yellow cap and shake properly.",
+    "Lift the medium-sized orange bottle with the right arm and shake.",
+    "Secure the bottle with printed label and perform a shake.",
+    "Secure the bottle with narrow neck, shake it, and place it down.",
+    "Catch the bottle with narrow neck and shake it instantly.",
+    "Pick the orange cylindrical bottle and perform shaking motion.",
+    "Hold the bottle with narrow neck, shake it briefly.",
+    "Shake the the bottle for liquids properly after lifting."
+  ],
+  "unseen": [
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Use the right arm to grab the orange bottle with smooth texture and shake.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the label-covered orange bottle with the right arm and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Pick and shake the the label-covered orange bottle with the right arm.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the right arm to grab the handheld orange bottle and shake.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick up the label-covered orange bottle with the right arm and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Shake the label-covered orange bottle after picking it with the right arm.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Pick and shake the the orange bottle with smooth texture with the right arm.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the right arm to grab the orange bottle with smooth texture and shake.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Shake the orange bottle with smooth texture after picking it with the right arm.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the right arm to grab the handheld orange bottle and shake.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Shake the orange bottle with smooth texture after picking it with the right arm.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Pick and shake the the label-covered orange bottle with the right arm.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the right arm to grab the label-covered orange bottle and shake.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the label-covered orange bottle with the right arm and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Shake the label-covered orange bottle after picking it with the right arm.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Pick and shake the the orange bottle with smooth texture with the right arm.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Use the right arm to grab the label-covered orange bottle and shake.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Use the right arm to pick the orange bottle with smooth texture.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the right arm to grab the handheld orange bottle and shake.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Shake the orange bottle with smooth texture after picking it with the right arm.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Pick and shake the the label-covered orange bottle with the right arm.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Use the right arm to grab the handheld orange bottle and shake.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the handheld orange bottle with the right arm and shake.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Shake the handheld orange bottle after picking it with the right arm.",
+    "Use the right arm to pick the handheld orange bottle.",
+    "Pick and shake the the handheld orange bottle with the right arm.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Use the right arm to grab the handheld orange bottle and shake.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Shake the label-covered orange bottle after picking it with the right arm.",
+    "Use the right arm to pick the label-covered orange bottle.",
+    "Pick and shake the the orange bottle with smooth texture with the right arm.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Use the right arm to grab the label-covered orange bottle and shake.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture with the right arm and shake.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Shake the label-covered orange bottle after picking it with the right arm.",
+    "Use the right arm to pick the handheld orange bottle."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008176.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008176.json
new file mode 100644
index 0000000000000000000000000000000000000000..558b7d5f785be12f5d61510cf067d93f2e9f3b41
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008176.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the white and orange plastic bottle, shake it briefly.",
+    "Shake the orange bottle after grabbing it.",
+    "Shake the plastic bottle after lifting it.",
+    "Using the right arm, shake the orange bottle and then place it back.",
+    "Use the right arm to grab the medium orange bottle and shake it.",
+    "Lift the white and orange plastic bottle and shake it thoroughly.",
+    "Pick the medium orange bottle, shake it with the right arm.",
+    "Grab the smooth plastic bottle and shake it steadily.",
+    "Use the right arm to hold the cylindrical orange and white bottle and shake it.",
+    "Lift up the smooth plastic bottle using the right arm, then shake.",
+    "Shake the the smooth plastic bottle properly after lifting.",
+    "Pick the bottle with orange cap up with the right arm and shake.",
+    "Grab the plastic bottle and move it to shake.",
+    "Take the orange and white bottle with cap using the right arm and give it a shake.",
+    "Pick up the cylindrical orange and white bottle and shake it.",
+    "Hold the bottle with orange cap with the right arm and shake lightly.",
+    "Grab the white and orange plastic bottle with the right arm and shake.",
+    "Utilize the right arm to hold the drinking bottle with yellow label and shake it.",
+    "Grab the smooth plastic bottle and give it a shake.",
+    "Grab the yellow label bottle using the right arm, then shake.",
+    "Use the right arm to lift and shake the white and orange plastic bottle.",
+    "With the right arm, pick the medium bottle with orange lid and shake properly.",
+    "Shake the plastic bottle after grabbing it.",
+    "Hold and shake the the plastic bottle carefully.",
+    "Grip the medium orange bottle using the right arm and shake.",
+    "Use the right arm to grab the plastic bottle and shake properly.",
+    "Shake the medium bottle with orange lid after grabbing it.",
+    "Pick the cylindrical orange and white bottle up using the right arm and shake it.",
+    "Shake the bottle with orange cap thoroughly after grabbing it.",
+    "Pick up the bottle with orange cap and shake it well.",
+    "Grab and shake the orange bottle using the right arm.",
+    "Shake the plastic bottle firmly after grabbing.",
+    "Grasp the white and orange plastic bottle with the right arm and shake it.",
+    "Lift the orange and white bottle with cap with the right arm and shake it.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Use the right arm to lift and shake the smooth plastic bottle.",
+    "Shake the medium bottle with orange lid after holding it firmly.",
+    "Catch the medium bottle with orange lid and shake it instantly.",
+    "Use the right arm to pick and shake the smooth plastic bottle.",
+    "Hold the cylindrical orange and white bottle and shake it properly.",
+    "Pick the bottle with ribbed orange bottom and perform shaking motion.",
+    "Grab the orange bottle carefully and shake.",
+    "Secure the white and orange plastic bottle and perform a shake.",
+    "Secure the bottle with orange cap, shake it, and place it down.",
+    "Hold the orange and white bottle with cap steady, then shake it.",
+    "Grab the bottle with orange cap firmly, shake it, and put it down.",
+    "Lift the medium orange bottle with the right arm and shake.",
+    "Lift the drinking bottle with yellow label and shake it gently.",
+    "Shake the medium orange bottle using the right arm after grabbing.",
+    "Lift the orange bottle with the right arm and give it a shake.",
+    "Hold the orange and white bottle with cap, shake it briefly.",
+    "Shake the drinking bottle with yellow label after grabbing it.",
+    "Shake the medium orange bottle after lifting it.",
+    "Using the right arm, shake the bottle with orange cap and then place it back.",
+    "Use the right arm to grab the orange and white bottle with cap and shake it.",
+    "Lift the plastic bottle and shake it thoroughly.",
+    "Pick the plastic bottle, shake it with the right arm.",
+    "Grab the medium bottle with orange lid and shake it steadily.",
+    "Use the right arm to hold the orange and white bottle with cap and shake it.",
+    "Lift up the drinking bottle with yellow label using the right arm, then shake.",
+    "Shake the the drinking bottle with yellow label properly after lifting.",
+    "Pick the plastic bottle up with the right arm and shake.",
+    "Grab the plastic bottle and move it to shake.",
+    "Take the medium orange bottle using the right arm and give it a shake.",
+    "Pick up the drinking bottle with yellow label and shake it.",
+    "Hold the bottle with ribbed orange bottom with the right arm and shake lightly.",
+    "Grab the smooth plastic bottle with the right arm and shake.",
+    "Utilize the right arm to hold the orange and white bottle with cap and shake it.",
+    "Grab the orange and white bottle with cap and give it a shake.",
+    "Grab the bottle with ribbed orange bottom using the right arm, then shake.",
+    "Use the right arm to lift and shake the bottle with ribbed orange bottom.",
+    "With the right arm, pick the white and orange plastic bottle and shake properly.",
+    "Shake the cylindrical orange and white bottle after grabbing it.",
+    "Hold and shake the the medium bottle with orange lid carefully.",
+    "Grip the medium orange bottle using the right arm and shake.",
+    "Use the right arm to grab the orange bottle and shake properly.",
+    "Shake the smooth plastic bottle after grabbing it.",
+    "Pick the drinking bottle with yellow label up using the right arm and shake it.",
+    "Shake the medium orange bottle thoroughly after grabbing it.",
+    "Pick up the medium orange bottle and shake it well.",
+    "Grab and shake the smooth plastic bottle using the right arm.",
+    "Shake the plastic bottle firmly after grabbing.",
+    "Grasp the drinking bottle with yellow label with the right arm and shake it.",
+    "Lift the plastic bottle with the right arm and shake it.",
+    "Use the right arm to lift and shake the orange and white bottle with cap.",
+    "Use the right arm to lift and shake the bottle with ribbed orange bottom.",
+    "Shake the orange and white bottle with cap after holding it firmly.",
+    "Catch the bottle with ribbed orange bottom and shake it instantly.",
+    "Use the right arm to pick and shake the drinking bottle with yellow label.",
+    "Hold the white and orange plastic bottle and shake it properly.",
+    "Pick the orange bottle and perform shaking motion.",
+    "Grab the orange and white bottle with cap carefully and shake.",
+    "Secure the bottle with orange cap and perform a shake.",
+    "Secure the plastic bottle, shake it, and place it down.",
+    "Hold the bottle with ribbed orange bottom steady, then shake it.",
+    "Grab the medium orange bottle firmly, shake it, and put it down.",
+    "Lift the medium bottle with orange lid with the right arm and shake.",
+    "Lift the orange bottle and shake it gently.",
+    "Shake the medium orange bottle using the right arm after grabbing.",
+    "Lift the cylindrical orange and white bottle with the right arm and give it a shake."
+  ],
+  "unseen": [
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Pick and shake the the bottle with curved body with the right arm.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Use the right arm to grab the curvy orange bottle with white section and shake.",
+    "Grab the bottle with curved body and shake it.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Use the right arm to pick the bottle with curved body.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Pick up the bottle with curved body and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Pick up the bottle with curved body and shake it.",
+    "Shake the bottle with yellow sticker label after picking it with the right arm.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Pick up the bottle with curved body with the right arm and shake.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Pick up the bottle with curved body and shake it.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Grab the curvy orange bottle with white section and shake it.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Use the right arm to pick the bottle with yellow sticker label.",
+    "Pick and shake the the bottle with yellow sticker label with the right arm.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Pick up the bottle with yellow sticker label with the right arm and shake.",
+    "Use the right arm to grab the bottle with yellow sticker label and shake.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Shake the bottle with curved body after picking it with the right arm.",
+    "Use the right arm to pick the curvy orange bottle with white section.",
+    "Pick and shake the the curvy orange bottle with white section with the right arm.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Pick up the curvy orange bottle with white section with the right arm and shake.",
+    "Use the right arm to grab the bottle with curved body and shake.",
+    "Grab the bottle with curved body and shake it.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Shake the curvy orange bottle with white section after picking it with the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008199.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008199.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbcb89bae0bb303fb695a3d8c4549413871f3a13
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008199.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the light and medium-sized bottle after grabbing it.",
+    "Using the right arm, shake the curved orange soda bottle and then place it back.",
+    "Hold and shake the the ridged orange bottle with grooves carefully.",
+    "Lift the round-bottom bottle with white cap with the right arm and shake it.",
+    "Shake the ridged orange bottle with grooves after lifting it.",
+    "Grab the plastic bottle and give it a shake.",
+    "Lift the ridged orange bottle with grooves and shake it thoroughly.",
+    "Shake the the medium bottle with colorful label properly after lifting.",
+    "Grab the cylindrical orange plastic bottle firmly, shake it, and put it down.",
+    "Pick the bottle for holding drinks up using the right arm and shake it.",
+    "Grab the medium bottle with colorful label using the right arm, then shake.",
+    "Grasp the smooth orange bottle with the right arm and shake it.",
+    "Catch the orange bottle and shake it instantly.",
+    "Grab the light and medium-sized bottle and move it to shake.",
+    "Pick up the plastic bottle and shake it.",
+    "Pick the medium bottle with colorful label up with the right arm and shake.",
+    "Shake the round-bottom bottle with white cap after grabbing it.",
+    "Take the grooved orange drink bottle using the right arm and give it a shake.",
+    "Lift the orange drink bottle with label with the right arm and give it a shake.",
+    "Pick the round-bottom bottle with white cap, shake it with the right arm.",
+    "Pick up the plastic bottle and shake it well.",
+    "Use the right arm to lift and shake the orange drink bottle with label.",
+    "Shake the curved orange soda bottle after holding it firmly.",
+    "Shake the medium bottle with colorful label after grabbing it.",
+    "Shake the plastic bottle firmly after grabbing.",
+    "Utilize the right arm to hold the medium bottle with colorful label and shake it.",
+    "Secure the bottle for holding drinks and perform a shake.",
+    "Use the right arm to grab the curved orange soda bottle and shake it.",
+    "Grab the bottle for holding drinks carefully and shake.",
+    "Grip the light and medium-sized bottle using the right arm and shake.",
+    "Pick the curved orange soda bottle and perform shaking motion.",
+    "Hold the ridged orange bottle with grooves steady, then shake it.",
+    "Hold the curved orange soda bottle and shake it properly.",
+    "Use the right arm to grab the smooth orange bottle and shake properly.",
+    "Use the right arm to lift and shake the cylindrical orange plastic bottle.",
+    "Use the right arm to pick and shake the bottle for holding drinks.",
+    "Lift the cylindrical orange plastic bottle and shake it gently.",
+    "Shake the round-bottom bottle with white cap using the right arm after grabbing.",
+    "Use the right arm to lift and shake the bottle for holding drinks.",
+    "Hold the cylindrical orange plastic bottle with the right arm and shake lightly.",
+    "Shake the medium bottle with colorful label thoroughly after grabbing it.",
+    "Use the right arm to hold the cylindrical orange plastic bottle and shake it.",
+    "Grab the light and medium-sized bottle and shake it steadily.",
+    "Hold the light and medium-sized bottle, shake it briefly.",
+    "Grab the smooth orange bottle with the right arm and shake.",
+    "Secure the orange bottle, shake it, and place it down.",
+    "Lift the cylindrical orange plastic bottle with the right arm and shake.",
+    "Grab and shake the light and medium-sized bottle using the right arm.",
+    "Lift up the orange bottle using the right arm, then shake.",
+    "With the right arm, pick the orange bottle and shake properly.",
+    "Shake the plastic bottle after grabbing it.",
+    "Using the right arm, shake the light and medium-sized bottle and then place it back.",
+    "Hold and shake the the grooved orange drink bottle carefully.",
+    "Lift the bottle for holding drinks with the right arm and shake it.",
+    "Shake the cylindrical orange plastic bottle after lifting it.",
+    "Grab the bottle for holding drinks and give it a shake.",
+    "Lift the round-bottom bottle with white cap and shake it thoroughly.",
+    "Shake the the medium bottle with colorful label properly after lifting.",
+    "Grab the grooved orange drink bottle firmly, shake it, and put it down.",
+    "Pick the bottle for holding drinks up using the right arm and shake it.",
+    "Grab the ridged orange bottle with grooves using the right arm, then shake.",
+    "Grasp the light and medium-sized bottle with the right arm and shake it.",
+    "Catch the cylindrical orange plastic bottle and shake it instantly.",
+    "Grab the smooth orange bottle and move it to shake.",
+    "Pick up the grooved orange drink bottle and shake it.",
+    "Pick the smooth orange bottle up with the right arm and shake.",
+    "Shake the medium bottle with colorful label after grabbing it.",
+    "Take the round-bottom bottle with white cap using the right arm and give it a shake.",
+    "Lift the orange bottle with the right arm and give it a shake.",
+    "Pick the round-bottom bottle with white cap, shake it with the right arm.",
+    "Pick up the cylindrical orange plastic bottle and shake it well.",
+    "Use the right arm to lift and shake the grooved orange drink bottle.",
+    "Shake the orange bottle after holding it firmly.",
+    "Shake the medium bottle with colorful label after grabbing it.",
+    "Shake the orange bottle firmly after grabbing.",
+    "Utilize the right arm to hold the medium bottle with colorful label and shake it.",
+    "Secure the medium bottle with colorful label and perform a shake.",
+    "Use the right arm to grab the plastic bottle and shake it.",
+    "Grab the curved orange soda bottle carefully and shake.",
+    "Grip the curved orange soda bottle using the right arm and shake.",
+    "Pick the plastic bottle and perform shaking motion.",
+    "Hold the smooth orange bottle steady, then shake it.",
+    "Hold the ridged orange bottle with grooves and shake it properly.",
+    "Use the right arm to grab the medium bottle with colorful label and shake properly.",
+    "Use the right arm to lift and shake the plastic bottle.",
+    "Use the right arm to pick and shake the bottle for holding drinks.",
+    "Lift the round-bottom bottle with white cap and shake it gently.",
+    "Shake the medium bottle with colorful label using the right arm after grabbing.",
+    "Use the right arm to lift and shake the medium bottle with colorful label.",
+    "Hold the orange drink bottle with label with the right arm and shake lightly.",
+    "Shake the orange drink bottle with label thoroughly after grabbing it.",
+    "Use the right arm to hold the round-bottom bottle with white cap and shake it.",
+    "Grab the ridged orange bottle with grooves and shake it steadily.",
+    "Hold the medium bottle with colorful label, shake it briefly.",
+    "Grab the orange bottle with the right arm and shake.",
+    "Secure the light and medium-sized bottle, shake it, and place it down.",
+    "Lift the light and medium-sized bottle with the right arm and shake.",
+    "Grab and shake the medium bottle with colorful label using the right arm.",
+    "Lift up the light and medium-sized bottle using the right arm, then shake.",
+    "With the right arm, pick the smooth orange bottle and shake properly."
+  ],
+  "unseen": [
+    "Shake the bottle with white cap after picking it with the right arm.",
+    "Pick and shake the the bottle with white cap with the right arm.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "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.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Use the right arm to grab the bottle with white cap and shake.",
+    "Shake the white capped orange plastic bottle after picking it with the right arm.",
+    "Pick and shake the the bottle with ridged orange grip with the right arm.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Use the right arm to pick the bottle with ridged orange grip.",
+    "Pick up the bottle with white cap with the right arm and shake.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Use the right arm to grab the bottle with white cap and shake.",
+    "Shake the white capped orange plastic bottle after picking it with the right arm.",
+    "Pick and shake the the bottle with white cap with the right arm.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Use the right arm to pick the bottle with ridged orange grip.",
+    "Pick up the white capped orange plastic bottle with the right arm and shake.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Use the right arm to grab the bottle with white cap and shake.",
+    "Shake the bottle with white cap after picking it with the right arm.",
+    "Pick and shake the the white capped orange plastic bottle with the right arm.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "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.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Use the right arm to grab the bottle with ridged orange grip and shake.",
+    "Shake the bottle with white cap after picking it with the right arm.",
+    "Pick and shake the the bottle with ridged orange grip with the right arm.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Pick up the bottle with white cap and shake it.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "Pick up the bottle with white cap with the right arm and shake.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Grab the bottle with white cap and shake it.",
+    "Use the right arm to grab the bottle with white cap and shake.",
+    "Shake the bottle with white cap after picking it with the right arm.",
+    "Pick and shake the the bottle with ridged orange grip with the right arm.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Pick up the bottle with white cap and shake it.",
+    "Use the right arm to pick the bottle with white cap.",
+    "Pick up the bottle with white cap with the right arm and shake.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Use the right arm to grab the bottle with ridged orange grip and shake.",
+    "Shake the bottle with ridged orange grip after picking it with the right arm.",
+    "Pick and shake the the bottle with white cap with the right arm.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "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.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Grab the bottle with white cap and shake it.",
+    "Use the right arm to grab the bottle with white cap and shake.",
+    "Shake the bottle with white cap after picking it with the right arm.",
+    "Pick and shake the the bottle with ridged orange grip with the right arm.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Pick up the bottle with white cap and shake it.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "Pick up the bottle with white cap with the right arm and shake.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Use the right arm to grab the white capped orange plastic bottle and shake.",
+    "Shake the bottle with ridged orange grip after picking it with the right arm.",
+    "Pick and shake the the white capped orange plastic bottle with the right arm.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "Pick up the bottle with ridged orange grip with the right arm and shake.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Grab the bottle with white cap and shake it.",
+    "Use the right arm to grab the bottle with ridged orange grip and shake.",
+    "Shake the white capped orange plastic bottle after picking it with the right arm.",
+    "Pick and shake the the white capped orange plastic bottle with the right arm.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Use the right arm to pick the bottle with ridged orange grip.",
+    "Pick up the white capped orange plastic bottle with the right arm and shake.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Grab the bottle with white cap and shake it.",
+    "Use the right arm to grab the white capped orange plastic bottle and shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008243.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008243.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8601bc248a58003a8160def90656e30951ffaf9
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008243.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the bottle with printed label and shake it properly.",
+    "Use the left arm to lift and shake the orange bottle.",
+    "Grab the medium-sized orange bottle carefully and shake.",
+    "Use the left arm to lift and shake the bottle with printed label.",
+    "Shake the the yellow-capped plastic bottle properly after lifting.",
+    "Pick up the medium-sized orange bottle and shake it well.",
+    "Shake the cylindrical orange bottle with yellow top thoroughly after grabbing it.",
+    "Grab the yellow-capped plastic bottle firmly, shake it, and put it down.",
+    "Shake the smooth plastic bottle firmly after grabbing.",
+    "Secure the plastic bottle with sealed yellow cap, shake it, and place it down.",
+    "Lift up the plastic bottle with sealed yellow cap using the left arm, then shake.",
+    "Hold the plastic bottle with sealed yellow cap, shake it briefly.",
+    "Shake the bottle with yellow cap after grabbing it.",
+    "Hold and shake the the orange bottle carefully.",
+    "Pick up the bottle with yellow cap and shake it.",
+    "Hold the bottle with printed label with the left arm and shake lightly.",
+    "Grab the plastic bottle with the left arm and shake.",
+    "Lift the cylindrical orange bottle with yellow top with the left arm and give it a shake.",
+    "Shake the orange bottle after lifting it.",
+    "Catch the medium-sized orange bottle and shake it instantly.",
+    "Use the left arm to hold the medium-sized orange bottle and shake it.",
+    "Pick the bottle for liquids and perform shaking motion.",
+    "Utilize the left arm to hold the yellow-capped plastic bottle and shake it.",
+    "Take the smooth plastic bottle using the left arm and give it a shake.",
+    "Secure the orange cylindrical bottle and perform a shake.",
+    "Grab the bottle with printed label using the left arm, then shake.",
+    "Shake the yellow-capped plastic bottle after holding it firmly.",
+    "Grab the yellow-capped plastic bottle and give it a shake.",
+    "Lift the bottle with narrow neck and shake it gently.",
+    "Shake the bottle with printed label using the left arm after grabbing.",
+    "Pick the yellow-capped plastic bottle up with the left arm and shake.",
+    "With the left arm, pick the smooth plastic bottle and shake properly.",
+    "Pick the orange cylindrical bottle, shake it with the left arm.",
+    "Lift the cylindrical orange bottle with yellow top and shake it thoroughly.",
+    "Hold the smooth plastic bottle steady, then shake it.",
+    "Lift the cylindrical orange bottle with yellow top with the left arm and shake.",
+    "Use the left arm to grab the plastic bottle with sealed yellow cap and shake properly.",
+    "Grasp the yellow-capped plastic bottle with the left arm and shake it.",
+    "Shake the plastic bottle after grabbing it.",
+    "Use the left arm to grab the medium-sized orange bottle and shake it.",
+    "Grab the plastic bottle with sealed yellow cap and shake it steadily.",
+    "Using the left arm, shake the plastic bottle with sealed yellow cap and then place it back.",
+    "Grab the smooth plastic bottle and move it to shake.",
+    "Grab and shake the medium-sized orange bottle using the left arm.",
+    "Shake the plastic bottle with sealed yellow cap after grabbing it.",
+    "Use the left arm to pick and shake the smooth plastic bottle.",
+    "Lift the bottle with narrow neck with the left arm and shake it.",
+    "Grip the bottle with yellow cap using the left arm and shake.",
+    "Pick the plastic bottle with sealed yellow cap up using the left arm and shake it.",
+    "Use the left arm to lift and shake the bottle with printed label.",
+    "Hold the bottle with narrow neck and shake it properly.",
+    "Use the left arm to lift and shake the plastic bottle with sealed yellow cap.",
+    "Grab the bottle with yellow cap carefully and shake.",
+    "Use the left arm to lift and shake the yellow-capped plastic bottle.",
+    "Shake the the medium-sized orange bottle properly after lifting.",
+    "Pick up the yellow-capped plastic bottle and shake it well.",
+    "Shake the orange bottle thoroughly after grabbing it.",
+    "Grab the orange cylindrical bottle firmly, shake it, and put it down.",
+    "Shake the bottle with printed label firmly after grabbing.",
+    "Secure the bottle with printed label, shake it, and place it down.",
+    "Lift up the orange bottle using the left arm, then shake.",
+    "Hold the bottle for liquids, shake it briefly.",
+    "Shake the orange bottle after grabbing it.",
+    "Hold and shake the the bottle with yellow cap carefully.",
+    "Pick up the cylindrical orange bottle with yellow top and shake it.",
+    "Hold the bottle for liquids with the left arm and shake lightly.",
+    "Grab the plastic bottle with sealed yellow cap with the left arm and shake.",
+    "Lift the cylindrical orange bottle with yellow top with the left arm and give it a shake.",
+    "Shake the orange bottle after lifting it.",
+    "Catch the medium-sized orange bottle and shake it instantly.",
+    "Use the left arm to hold the bottle for liquids and shake it.",
+    "Pick the plastic bottle with sealed yellow cap and perform shaking motion.",
+    "Utilize the left arm to hold the bottle for liquids and shake it.",
+    "Take the bottle with yellow cap using the left arm and give it a shake.",
+    "Secure the bottle with narrow neck and perform a shake.",
+    "Grab the medium-sized orange bottle using the left arm, then shake.",
+    "Shake the medium-sized orange bottle after holding it firmly.",
+    "Grab the orange bottle and give it a shake.",
+    "Lift the bottle with printed label and shake it gently.",
+    "Shake the orange bottle using the left arm after grabbing.",
+    "Pick the orange cylindrical bottle up with the left arm and shake.",
+    "With the left arm, pick the cylindrical orange bottle with yellow top and shake properly.",
+    "Pick the medium-sized orange bottle, shake it with the left arm.",
+    "Lift the plastic bottle and shake it thoroughly.",
+    "Hold the plastic bottle with sealed yellow cap steady, then shake it.",
+    "Lift the smooth plastic bottle with the left arm and shake.",
+    "Use the left arm to grab the orange bottle and shake properly.",
+    "Grasp the bottle with narrow neck with the left arm and shake it.",
+    "Shake the yellow-capped plastic bottle after grabbing it.",
+    "Use the left arm to grab the yellow-capped plastic bottle and shake it.",
+    "Grab the bottle with narrow neck and shake it steadily.",
+    "Using the left arm, shake the yellow-capped plastic bottle and then place it back.",
+    "Grab the bottle with printed label and move it to shake.",
+    "Grab and shake the bottle with yellow cap using the left arm.",
+    "Shake the yellow-capped plastic bottle after grabbing it.",
+    "Use the left arm to pick and shake the bottle with yellow cap.",
+    "Lift the bottle with printed label with the left arm and shake it.",
+    "Grip the smooth plastic bottle using the left arm and shake.",
+    "Pick the smooth plastic bottle up using the left arm and shake it.",
+    "Use the left arm to lift and shake the medium-sized orange bottle."
+  ],
+  "unseen": [
+    "Grab the label-covered orange bottle and shake it.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the handheld orange bottle with the left arm and shake.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Pick up 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 pick the handheld orange bottle.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Use the left arm to grab the label-covered orange bottle and shake.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Pick up 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 pick the orange bottle with smooth texture.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Use the left arm to pick the handheld orange bottle.",
+    "Grab the orange bottle with smooth texture and shake it.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Grab the handheld orange bottle, shake it properly, then set it down.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Use the left arm to pick the label-covered orange bottle.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Grab the orange bottle with smooth texture and give it a shake.",
+    "Grab the label-covered orange bottle, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick and shake the the label-covered orange bottle with the left arm.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Shake the orange bottle with smooth texture after picking it with the left arm.",
+    "Pick up 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 pick the handheld orange bottle.",
+    "Grab the handheld orange bottle and shake it.",
+    "Grab the handheld orange bottle and give it a shake.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick and shake the the orange bottle with smooth texture with the left arm.",
+    "Use the left arm to grab the orange bottle with smooth texture and shake.",
+    "Shake the label-covered orange bottle after picking it with the left arm.",
+    "Pick up the handheld orange bottle and shake it.",
+    "Pick up the orange bottle with smooth texture with the left arm and shake.",
+    "Use the left arm to pick the orange bottle with smooth texture.",
+    "Grab the label-covered orange bottle and shake it.",
+    "Grab the label-covered orange bottle and give it a shake.",
+    "Grab the orange bottle with smooth texture, shake it properly, then set it down.",
+    "Pick up the orange bottle with smooth texture and shake it.",
+    "Pick and shake the the handheld orange bottle with the left arm.",
+    "Use the left arm to grab the handheld orange bottle and shake.",
+    "Shake the handheld orange bottle after picking it with the left arm.",
+    "Pick up the label-covered orange bottle and shake it.",
+    "Pick up the label-covered orange bottle with the left arm and shake.",
+    "Use the left arm to pick the orange bottle with smooth texture."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008313.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008313.json
new file mode 100644
index 0000000000000000000000000000000000000000..d70cf43953497766efff3ed34fe6c012ea41053b
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008313.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab and shake the medium-sized green bottle using the left arm.",
+    "Grab the bottle with white printed label using the left arm, then shake.",
+    "Lift the plastic bottle with the left arm and shake.",
+    "Use the left arm to pick and shake the bottle with white printed label.",
+    "Grab the medium green bottle and shake it steadily.",
+    "Shake the bottle with white printed label after grabbing it.",
+    "Shake the medium green bottle with capped neck after grabbing it.",
+    "Pick the bottle with ridges near base and perform shaking motion.",
+    "Shake the medium green bottle with capped neck firmly after grabbing.",
+    "Shake the bottle with ridges near base after lifting it.",
+    "Grab the bottle with ridges near base firmly, shake it, and put it down.",
+    "Grab the plastic bottle and move it to shake.",
+    "Pick the medium-sized green bottle up using the left arm and shake it.",
+    "Grab the smooth green plastic bottle carefully and shake.",
+    "Hold the handheld green bottle and shake it properly.",
+    "Lift up the smooth green bottle using the left arm, then shake.",
+    "Lift the bottle with narrow top and shake it gently.",
+    "Grip the medium-sized green bottle using the left arm and shake.",
+    "Hold the bottle with narrow top steady, then shake it.",
+    "Shake the the bottle with ridges near base properly after lifting.",
+    "Shake the smooth green bottle thoroughly after grabbing it.",
+    "Grab the medium-sized green bottle and give it a shake.",
+    "Shake the bottle with ridges near base after grabbing it.",
+    "Pick up the medium green bottle and shake it.",
+    "Use the left arm to hold the bottle with ridges near base and shake it.",
+    "Pick the bottle with rounded neck up with the left arm and shake.",
+    "Shake the bottle with white printed label using the left arm after grabbing.",
+    "Use the left arm to grab the smooth green plastic bottle and shake it.",
+    "Pick up the green bottle with indented base and shake it well.",
+    "Utilize the left arm to hold the bottle with white printed label and shake it.",
+    "Hold and shake the the smooth green plastic bottle carefully.",
+    "Lift the medium green bottle with the left arm and shake it.",
+    "Shake the medium green bottle with capped neck after holding it firmly.",
+    "Catch the plastic bottle and shake it instantly.",
+    "Lift the bottle with rounded neck and shake it thoroughly.",
+    "Secure the medium-sized green bottle and perform a shake.",
+    "Hold the smooth green bottle, shake it briefly.",
+    "Use the left arm to grab the bottle with white printed label and shake properly.",
+    "Hold the smooth green plastic bottle with the left arm and shake lightly.",
+    "Use the left arm to lift and shake the bottle with ridges near base.",
+    "Using the left arm, shake the bottle with ridges near base and then place it back.",
+    "Grab the smooth green plastic bottle with the left arm and shake.",
+    "Take the smooth green bottle using the left arm and give it a shake.",
+    "Use the left arm to lift and shake the plastic bottle.",
+    "Lift the medium green bottle with capped neck with the left arm and give it a shake.",
+    "Use the left arm to lift and shake the plastic bottle.",
+    "Pick the medium green bottle with capped neck, shake it with the left arm.",
+    "With the left arm, pick the bottle with rounded neck and shake properly.",
+    "Secure the medium green bottle, shake it, and place it down.",
+    "Grasp the medium green bottle with the left arm and shake it.",
+    "Grab and shake the handheld green bottle using the left arm.",
+    "Grab the smooth green plastic bottle using the left arm, then shake.",
+    "Lift the smooth green bottle with the left arm and shake.",
+    "Use the left arm to pick and shake the bottle with ridges near base.",
+    "Grab the handheld green bottle and shake it steadily.",
+    "Shake the medium green bottle after grabbing it.",
+    "Shake the smooth green plastic bottle after grabbing it.",
+    "Pick the bottle with ridges near base and perform shaking motion.",
+    "Shake the medium green bottle firmly after grabbing.",
+    "Shake the bottle with rounded neck after lifting it.",
+    "Grab the bottle with ridges near base firmly, shake it, and put it down.",
+    "Grab the green bottle with indented base and move it to shake.",
+    "Pick the smooth green plastic bottle up using the left arm and shake it.",
+    "Grab the smooth green bottle carefully and shake.",
+    "Hold the bottle with rounded neck and shake it properly.",
+    "Lift up the bottle with ridges near base using the left arm, then shake.",
+    "Lift the handheld green bottle and shake it gently.",
+    "Grip the handheld green bottle using the left arm and shake.",
+    "Hold the green bottle with indented base steady, then shake it.",
+    "Shake the the medium-sized green bottle properly after lifting.",
+    "Shake the plastic bottle thoroughly after grabbing it.",
+    "Grab the bottle with rounded neck and give it a shake.",
+    "Shake the bottle with narrow top after grabbing it.",
+    "Pick up the bottle with rounded neck and shake it.",
+    "Use the left arm to hold the medium green bottle with capped neck and shake it.",
+    "Pick the bottle with narrow top up with the left arm and shake.",
+    "Shake the plastic bottle using the left arm after grabbing.",
+    "Use the left arm to grab the medium green bottle with capped neck and shake it.",
+    "Pick up the smooth green plastic bottle and shake it well.",
+    "Utilize the left arm to hold the handheld green bottle and shake it.",
+    "Hold and shake the the plastic bottle carefully.",
+    "Lift the bottle with ridges near base with the left arm and shake it.",
+    "Shake the medium-sized green bottle after holding it firmly.",
+    "Catch the smooth green bottle and shake it instantly.",
+    "Lift the medium-sized green bottle and shake it thoroughly.",
+    "Secure the medium green bottle with capped neck and perform a shake.",
+    "Hold the plastic bottle, shake it briefly.",
+    "Use the left arm to grab the plastic bottle and shake properly.",
+    "Hold the handheld green bottle with the left arm and shake lightly.",
+    "Use the left arm to lift and shake the handheld green bottle.",
+    "Using the left arm, shake the bottle with rounded neck and then place it back.",
+    "Grab the medium green bottle with the left arm and shake.",
+    "Take the bottle with ridges near base using the left arm and give it a shake.",
+    "Use the left arm to lift and shake the bottle with ridges near base.",
+    "Lift the smooth green plastic bottle with the left arm and give it a shake.",
+    "Use the left arm to lift and shake the smooth green bottle.",
+    "Pick the green bottle with indented base, shake it with the left arm.",
+    "With the left arm, pick the bottle with narrow top and shake properly.",
+    "Secure the medium-sized green bottle, shake it, and place it down.",
+    "Grasp the medium-sized green bottle with the left arm and shake it."
+  ],
+  "unseen": [
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Pick and shake the the green bottle with the left arm.",
+    "Shake the green plastic bottle with ridged bottom after picking it with the left arm.",
+    "Use the left arm to pick the green bottle.",
+    "Grab the green bottle with white label, shake it properly, then set it down.",
+    "Grab the green bottle with white label and shake it.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "Use the left arm to grab the green bottle with white label and shake.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Pick up the green plastic bottle with ridged bottom with the left arm and shake.",
+    "Pick up the green bottle with white label and shake it.",
+    "Pick and shake the the green bottle with the left arm.",
+    "Shake the green bottle after picking it with the left arm.",
+    "Use the left arm to pick the green bottle with white label.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green plastic bottle with ridged bottom and give it a shake.",
+    "Use the left arm to grab the green bottle and shake.",
+    "Pick up the green bottle and shake it.",
+    "Pick up the green bottle with the left arm and shake.",
+    "Pick up the green bottle and shake it.",
+    "Pick and shake the the green bottle with white label with the left arm.",
+    "Shake the green bottle with white label after picking it with the left arm.",
+    "Use the left arm to pick the green plastic bottle with ridged bottom.",
+    "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Grab the green bottle and shake it.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Use the left arm to grab the green bottle and shake.",
+    "Pick up the green bottle and shake it.",
+    "Pick up the green bottle with the left arm and shake.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the left arm.",
+    "Shake the green bottle after picking it with the left arm.",
+    "Use the left arm to pick the green plastic bottle with ridged bottom.",
+    "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Grab the green bottle and shake it.",
+    "Grab the green bottle and give it a shake.",
+    "Use the left arm to grab the green bottle and shake.",
+    "Pick up the green bottle with white label and shake it.",
+    "Pick up the green bottle with white label with the left arm and shake.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Pick and shake the the green bottle with the left arm.",
+    "Shake the green bottle after picking it with the left arm.",
+    "Use the left arm to pick the green bottle.",
+    "Grab the green bottle with white label, shake it properly, then set it down.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Use the left arm to grab the green bottle with white label and shake.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Pick up the green bottle with the left arm and shake.",
+    "Pick up the green bottle and shake it.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the left arm.",
+    "Shake the green bottle after picking it with the left arm.",
+    "Use the left arm to pick the green plastic bottle with ridged bottom.",
+    "Grab the green bottle with white label, shake it properly, then set it down.",
+    "Grab the green bottle and shake it.",
+    "Grab the green bottle and give it a shake.",
+    "Use the left arm to grab the green bottle and shake.",
+    "Pick up the green bottle and shake it.",
+    "Pick up the green plastic bottle with ridged bottom with the left arm and shake.",
+    "Pick up the green bottle and shake it.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the left arm.",
+    "Shake the green bottle after picking it with the left arm.",
+    "Use the left arm to pick the green bottle with white label.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Grab the green bottle and shake it.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Use the left arm to grab the green bottle and shake.",
+    "Pick up the green bottle and shake it.",
+    "Pick up the green bottle with the left arm and shake.",
+    "Pick up the green bottle with white label and shake it.",
+    "Pick and shake the the green plastic bottle with ridged bottom with the left arm.",
+    "Shake the green bottle after picking it with the left arm.",
+    "Use the left arm to pick the green bottle with white label.",
+    "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Grab the green bottle and shake it.",
+    "Grab the green bottle and give it a shake.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom and shake.",
+    "Pick up the green bottle and shake it.",
+    "Pick up the green bottle with the left arm and shake.",
+    "Pick up the green plastic bottle with ridged bottom and shake it.",
+    "Pick and shake the the green bottle with the left arm.",
+    "Shake the green bottle after picking it with the left arm.",
+    "Use the left arm to pick the green bottle.",
+    "Grab the green bottle, shake it properly, then set it down.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green bottle and give it a shake.",
+    "Use the left arm to grab the green bottle and shake.",
+    "Pick up the green bottle with white label and shake it.",
+    "Pick up the green plastic bottle with ridged bottom with the left arm and shake.",
+    "Pick up the green bottle and shake it.",
+    "Pick and shake the the green bottle with the left arm.",
+    "Shake the green bottle after picking it with the left arm.",
+    "Use the left arm to pick the green bottle with white label.",
+    "Grab the green plastic bottle with ridged bottom, shake it properly, then set it down.",
+    "Grab the green plastic bottle with ridged bottom and shake it.",
+    "Grab the green bottle with white label and give it a shake.",
+    "Use the left arm to grab the green bottle with white label and shake.",
+    "Pick up the green bottle and shake it.",
+    "Pick up the green bottle with white label with the left arm and shake."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008336.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008336.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad5e6348bc16e46c449402c58451645a5fb2fb94
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008336.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the right arm to lift and shake the bottle for holding drinks.",
+    "Use the right arm to lift and shake the cylindrical orange plastic bottle.",
+    "Shake the grooved orange drink bottle after grabbing it.",
+    "Hold the orange drink bottle with label steady, then shake it.",
+    "Take the plastic bottle using the right arm and give it a shake.",
+    "Grab the orange bottle and shake it steadily.",
+    "Grab the round-bottom bottle with white cap carefully and shake.",
+    "Utilize the right arm to hold the round-bottom bottle with white cap and shake it.",
+    "Pick the cylindrical orange plastic bottle up with the right arm and shake.",
+    "Secure the cylindrical orange plastic bottle and perform a shake.",
+    "Grab the light and medium-sized bottle and give it a shake.",
+    "With the right arm, pick the bottle for holding drinks and shake properly.",
+    "Use the right arm to grab the medium bottle with colorful label and shake it.",
+    "Pick the plastic bottle up using the right arm and shake it.",
+    "Grab the ridged orange bottle with grooves using the right arm, then shake.",
+    "Use the right arm to hold the round-bottom bottle with white cap and shake it.",
+    "Grab the round-bottom bottle with white cap firmly, shake it, and put it down.",
+    "Shake the plastic bottle after grabbing it.",
+    "Shake the medium bottle with colorful label using the right arm after grabbing.",
+    "Grab the curved orange soda bottle with the right arm and shake.",
+    "Shake the the medium bottle with colorful label properly after lifting.",
+    "Using the right arm, shake the cylindrical orange plastic bottle and then place it back.",
+    "Shake the light and medium-sized bottle after grabbing it.",
+    "Use the right arm to pick and shake the round-bottom bottle with white cap.",
+    "Grab the round-bottom bottle with white cap and move it to shake.",
+    "Hold the curved orange soda bottle and shake it properly.",
+    "Use the right arm to grab the grooved orange drink bottle and shake properly.",
+    "Lift the light and medium-sized bottle and shake it gently.",
+    "Lift the bottle for holding drinks and shake it thoroughly.",
+    "Hold and shake the the bottle for holding drinks carefully.",
+    "Pick up the ridged orange bottle with grooves and shake it.",
+    "Grasp the orange bottle with the right arm and shake it.",
+    "Hold the smooth orange bottle with the right arm and shake lightly.",
+    "Shake the grooved orange drink bottle after holding it firmly.",
+    "Pick the bottle for holding drinks, shake it with the right arm.",
+    "Shake the curved orange soda bottle thoroughly after grabbing it.",
+    "Lift the round-bottom bottle with white cap with the right arm and give it a shake.",
+    "Secure the orange bottle, shake it, and place it down.",
+    "Hold the orange bottle, shake it briefly.",
+    "Lift up the grooved orange drink bottle using the right arm, then shake.",
+    "Grab and shake the round-bottom bottle with white cap using the right arm.",
+    "Pick up the medium bottle with colorful label and shake it well.",
+    "Use the right arm to lift and shake the orange bottle.",
+    "Lift the grooved orange drink bottle with the right arm and shake.",
+    "Lift the curved orange soda bottle with the right arm and shake it.",
+    "Grip the curved orange soda bottle using the right arm and shake.",
+    "Catch the cylindrical orange plastic bottle and shake it instantly.",
+    "Shake the round-bottom bottle with white cap after lifting it.",
+    "Pick the orange drink bottle with label and perform shaking motion.",
+    "Shake the smooth orange bottle firmly after grabbing.",
+    "Use the right arm to lift and shake the orange bottle.",
+    "Use the right arm to lift and shake the light and medium-sized bottle.",
+    "Shake the cylindrical orange plastic bottle after grabbing it.",
+    "Hold the ridged orange bottle with grooves steady, then shake it.",
+    "Take the medium bottle with colorful label using the right arm and give it a shake.",
+    "Grab the orange drink bottle with label and shake it steadily.",
+    "Grab the smooth orange bottle carefully and shake.",
+    "Utilize the right arm to hold the grooved orange drink bottle and shake it.",
+    "Pick the cylindrical orange plastic bottle up with the right arm and shake.",
+    "Secure the plastic bottle and perform a shake.",
+    "Grab the bottle for holding drinks and give it a shake.",
+    "With the right arm, pick the medium bottle with colorful label and shake properly.",
+    "Use the right arm to grab the smooth orange bottle and shake it.",
+    "Pick the grooved orange drink bottle up using the right arm and shake it.",
+    "Grab the round-bottom bottle with white cap using the right arm, then shake.",
+    "Use the right arm to hold the plastic bottle and shake it.",
+    "Grab the orange bottle firmly, shake it, and put it down.",
+    "Shake the orange drink bottle with label after grabbing it.",
+    "Shake the ridged orange bottle with grooves using the right arm after grabbing.",
+    "Grab the smooth orange bottle with the right arm and shake.",
+    "Shake the the plastic bottle properly after lifting.",
+    "Using the right arm, shake the light and medium-sized bottle and then place it back.",
+    "Shake the round-bottom bottle with white cap after grabbing it.",
+    "Use the right arm to pick and shake the curved orange soda bottle.",
+    "Grab the curved orange soda bottle and move it to shake.",
+    "Hold the grooved orange drink bottle and shake it properly.",
+    "Use the right arm to grab the round-bottom bottle with white cap and shake properly.",
+    "Lift the orange bottle and shake it gently.",
+    "Lift the curved orange soda bottle and shake it thoroughly.",
+    "Hold and shake the the cylindrical orange plastic bottle carefully.",
+    "Pick up the round-bottom bottle with white cap and shake it.",
+    "Grasp the smooth orange bottle with the right arm and shake it.",
+    "Hold the cylindrical orange plastic bottle with the right arm and shake lightly.",
+    "Shake the orange drink bottle with label after holding it firmly.",
+    "Pick the orange drink bottle with label, shake it with the right arm.",
+    "Shake the orange drink bottle with label thoroughly after grabbing it.",
+    "Lift the curved orange soda bottle with the right arm and give it a shake.",
+    "Secure the bottle for holding drinks, shake it, and place it down.",
+    "Hold the round-bottom bottle with white cap, shake it briefly.",
+    "Lift up the plastic bottle using the right arm, then shake.",
+    "Grab and shake the cylindrical orange plastic bottle using the right arm.",
+    "Pick up the orange bottle and shake it well.",
+    "Use the right arm to lift and shake the orange drink bottle with label.",
+    "Lift the ridged orange bottle with grooves with the right arm and shake.",
+    "Lift the plastic bottle with the right arm and shake it.",
+    "Grip the light and medium-sized bottle using the right arm and shake.",
+    "Catch the round-bottom bottle with white cap and shake it instantly.",
+    "Shake the smooth orange bottle after lifting it.",
+    "Pick the grooved orange drink bottle and perform shaking motion.",
+    "Shake the orange bottle firmly after grabbing."
+  ],
+  "unseen": [
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Use the right arm to pick the white capped orange plastic bottle.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Use the right arm to grab the white capped orange plastic bottle and shake.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Pick and shake the the white capped orange plastic bottle with the right arm.",
+    "Pick up the bottle with white cap with the right arm and shake.",
+    "Shake the bottle with ridged orange grip after picking it with the right arm.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Use the right arm to pick the bottle with white cap.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with white cap and shake.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Pick and shake the the white capped orange plastic bottle with the right arm.",
+    "Pick up the bottle with white cap with the right arm and shake.",
+    "Shake the bottle with ridged orange grip after picking it 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.",
+    "Use the right arm to pick the bottle with ridged orange grip.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with ridged orange grip and shake.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Pick and shake the the bottle with white cap with the right arm.",
+    "Pick up the white capped orange plastic bottle with the right arm and shake.",
+    "Shake the bottle with ridged orange grip after picking it with the right arm.",
+    "Grab the white capped orange plastic bottle and shake it.",
+    "Pick up the bottle with white cap and shake it.",
+    "Use the right arm to pick the bottle with ridged orange grip.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with ridged orange grip and shake.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Pick and shake the the bottle with white cap with the right arm.",
+    "Pick up the bottle with white cap with the right arm and shake.",
+    "Shake the white capped orange plastic bottle after picking it 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.",
+    "Use the right arm to pick the bottle with ridged orange grip.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with white cap and shake.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Pick and shake the the white capped orange plastic bottle with the right arm.",
+    "Pick up the white capped orange plastic bottle with the right arm and shake.",
+    "Shake the bottle with white cap after picking it 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.",
+    "Use the right arm to pick the bottle with white cap.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Use the right arm to grab the white capped orange plastic bottle and shake.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Pick and shake the the white capped orange plastic bottle with the right arm.",
+    "Pick up the bottle with ridged orange grip with the right arm and shake.",
+    "Shake the white capped orange plastic bottle after picking it 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.",
+    "Use the right arm to pick the bottle with white cap.",
+    "Grab the white capped orange plastic bottle, shake it properly, then set it down.",
+    "Use the right arm to grab the white capped orange plastic bottle and shake.",
+    "Pick up the white capped orange plastic bottle and shake it.",
+    "Grab the white capped orange plastic bottle and give it a shake.",
+    "Pick and shake the the bottle with white cap with the right arm.",
+    "Pick up the white capped orange plastic bottle with the right arm and shake.",
+    "Shake the bottle with ridged orange grip after picking it with the right arm.",
+    "Grab the bottle with ridged orange grip and shake it.",
+    "Pick up the bottle with white cap and shake it.",
+    "Use the right arm to pick the bottle with white cap.",
+    "Grab the bottle with white cap, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with white cap and shake.",
+    "Pick up the bottle with white cap and shake it.",
+    "Grab the bottle with white cap and give it a shake.",
+    "Pick and shake the the bottle with ridged orange grip with the right arm.",
+    "Pick up the bottle with white cap with the right arm and shake.",
+    "Shake the bottle with ridged orange grip after picking it 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.",
+    "Use the right arm to pick the bottle with ridged orange grip.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Use the right arm to grab the bottle with white cap and shake.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Pick and shake the the bottle with ridged orange grip with the right arm.",
+    "Pick up the bottle with white cap with the right arm and shake.",
+    "Shake the bottle with white cap after picking it 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.",
+    "Use the right arm to pick the bottle with ridged orange grip.",
+    "Grab the bottle with ridged orange grip, shake it properly, then set it down.",
+    "Use the right arm to grab the white capped orange plastic bottle and shake.",
+    "Pick up the bottle with ridged orange grip and shake it.",
+    "Grab the bottle with ridged orange grip and give it a shake.",
+    "Pick and shake the the bottle with ridged orange grip with the right arm.",
+    "Pick up the bottle with ridged orange grip with the right arm and shake.",
+    "Shake the bottle with ridged orange grip after picking it with the right arm."
+  ]
+}
\ No newline at end of file
diff --git a/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008372.json b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008372.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf2259bbe557e4690aff685d1bac87554ad7dfb6
--- /dev/null
+++ b/piper_12_tasks_instructions_randomized_clean_table/shake_bottle/episode10008372.json
@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Shake the medium orange bottle using the left arm after grabbing.",
+    "Use the left arm to hold the orange bottle and shake it.",
+    "Use the left arm to pick and shake the white and orange plastic bottle.",
+    "Grab the drinking bottle with yellow label firmly, shake it, and put it down.",
+    "Utilize the left arm to hold the cylindrical orange and white bottle and shake it.",
+    "Catch the smooth plastic bottle and shake it instantly.",
+    "Hold the white and orange plastic bottle, shake it briefly.",
+    "Pick up the yellow label bottle and shake it well.",
+    "Use the left arm to lift and shake the drinking bottle with yellow label.",
+    "Pick up the medium bottle with orange lid and shake it.",
+    "Pick the drinking bottle with yellow label up using the left arm and shake it.",
+    "Lift the cylindrical orange and white bottle and shake it gently.",
+    "Shake the the white and orange plastic bottle properly after lifting.",
+    "Use the left arm to lift and shake the plastic bottle.",
+    "Grab and shake the orange and white bottle with cap using the left arm.",
+    "Lift the bottle with orange cap and shake it thoroughly.",
+    "Grab the orange and white bottle with cap carefully and shake.",
+    "Lift the bottle with ribbed orange bottom with the left arm and shake it.",
+    "Pick the white and orange plastic bottle and perform shaking motion.",
+    "Hold the white and orange plastic bottle with the left arm and shake lightly.",
+    "Shake the drinking bottle with yellow label firmly after grabbing.",
+    "Grab the orange and white bottle with cap and shake it steadily.",
+    "Pick the yellow label bottle, shake it with the left arm.",
+    "Grab the yellow label bottle with the left arm and shake.",
+    "Lift the medium orange bottle with the left arm and give it a shake.",
+    "Shake the white and orange plastic bottle after grabbing it.",
+    "Use the left arm to grab the medium orange bottle and shake it.",
+    "Use the left arm to grab the orange bottle and shake properly.",
+    "Grab the white and orange plastic bottle and move it to shake.",
+    "Use the left arm to lift and shake the orange and white bottle with cap.",
+    "Lift up the medium orange bottle using the left arm, then shake.",
+    "Pick the white and orange plastic bottle up with the left arm and shake.",
+    "With the left arm, pick the cylindrical orange and white bottle and shake properly.",
+    "Secure the bottle with ribbed orange bottom and perform a shake.",
+    "Using the left arm, shake the yellow label bottle and then place it back.",
+    "Lift the drinking bottle with yellow label with the left arm and shake.",
+    "Shake the smooth plastic bottle thoroughly after grabbing it.",
+    "Shake the medium bottle with orange lid after holding it firmly.",
+    "Grab the cylindrical orange and white bottle using the left arm, then shake.",
+    "Grip the drinking bottle with yellow label using the left arm and shake.",
+    "Shake the orange and white bottle with cap after lifting it.",
+    "Take the smooth plastic bottle using the left arm and give it a shake.",
+    "Shake the yellow label bottle after grabbing it.",
+    "Hold the bottle with ribbed orange bottom steady, then shake it.",
+    "Hold the orange and white bottle with cap and shake it properly.",
+    "Secure the orange bottle, shake it, and place it down.",
+    "Hold and shake the the medium orange bottle carefully.",
+    "Grab the white and orange plastic bottle and give it a shake.",
+    "Grasp the orange and white bottle with cap with the left arm and shake it.",
+    "Shake the yellow label bottle after grabbing it.",
+    "Shake the white and orange plastic bottle using the left arm after grabbing.",
+    "Use the left arm to hold the medium orange bottle and shake it.",
+    "Use the left arm to pick and shake the white and orange plastic bottle.",
+    "Grab the white and orange plastic bottle firmly, shake it, and put it down.",
+    "Utilize the left arm to hold the bottle with orange cap and shake it.",
+    "Catch the orange bottle and shake it instantly.",
+    "Hold the yellow label bottle, shake it briefly.",
+    "Pick up the white and orange plastic bottle and shake it well.",
+    "Use the left arm to lift and shake the smooth plastic bottle.",
+    "Pick up the orange bottle and shake it.",
+    "Pick the medium bottle with orange lid up using the left arm and shake it.",
+    "Lift the medium orange bottle and shake it gently.",
+    "Shake the the plastic bottle properly after lifting.",
+    "Use the left arm to lift and shake the bottle with orange cap.",
+    "Grab and shake the medium orange bottle using the left arm.",
+    "Lift the cylindrical orange and white bottle and shake it thoroughly.",
+    "Grab the orange and white bottle with cap carefully and shake.",
+    "Lift the bottle with ribbed orange bottom with the left arm and shake it.",
+    "Pick the medium orange bottle and perform shaking motion.",
+    "Hold the cylindrical orange and white bottle with the left arm and shake lightly.",
+    "Shake the smooth plastic bottle firmly after grabbing.",
+    "Grab the bottle with ribbed orange bottom and shake it steadily.",
+    "Pick the yellow label bottle, shake it with the left arm.",
+    "Grab the bottle with orange cap with the left arm and shake.",
+    "Lift the orange bottle with the left arm and give it a shake.",
+    "Shake the plastic bottle after grabbing it.",
+    "Use the left arm to grab the plastic bottle and shake it.",
+    "Use the left arm to grab the bottle with ribbed orange bottom and shake properly.",
+    "Grab the medium bottle with orange lid and move it to shake.",
+    "Use the left arm to lift and shake the smooth plastic bottle.",
+    "Lift up the cylindrical orange and white bottle using the left arm, then shake.",
+    "Pick the yellow label bottle up with the left arm and shake.",
+    "With the left arm, pick the medium bottle with orange lid and shake properly.",
+    "Secure the yellow label bottle and perform a shake.",
+    "Using the left arm, shake the orange and white bottle with cap and then place it back.",
+    "Lift the orange bottle with the left arm and shake.",
+    "Shake the bottle with orange cap thoroughly after grabbing it.",
+    "Shake the plastic bottle after holding it firmly.",
+    "Grab the orange and white bottle with cap using the left arm, then shake.",
+    "Grip the medium bottle with orange lid using the left arm and shake.",
+    "Shake the orange bottle after lifting it.",
+    "Take the orange bottle using the left arm and give it a shake.",
+    "Shake the bottle with ribbed orange bottom after grabbing it.",
+    "Hold the white and orange plastic bottle steady, then shake it.",
+    "Hold the bottle with ribbed orange bottom and shake it properly.",
+    "Secure the smooth plastic bottle, shake it, and place it down.",
+    "Hold and shake the the orange and white bottle with cap carefully.",
+    "Grab the orange bottle and give it a shake.",
+    "Grasp the medium orange bottle with the left arm and shake it.",
+    "Shake the yellow label bottle after grabbing it."
+  ],
+  "unseen": [
+    "Grab the bottle with curved body and shake it.",
+    "Use the left arm to grab the bottle with curved body and shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick and shake the the bottle with curved body with the left arm.",
+    "Shake the bottle with yellow sticker label after picking it with the left arm.",
+    "Pick up the bottle with yellow sticker label with the left arm and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Use the left arm to pick the bottle with curved body.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Grab the bottle with curved body and shake it.",
+    "Use the left arm to grab the bottle with curved body and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick and shake the the bottle with curved body with the left arm.",
+    "Shake the curvy orange bottle with white section after picking it with the left arm.",
+    "Pick up the bottle with yellow sticker label with the left arm and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Use the left arm to pick the bottle with curved body.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Use the left arm to grab the bottle with curved body and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick and shake the the curvy orange bottle with white section with the left arm.",
+    "Shake the bottle with yellow sticker label after picking it with the left arm.",
+    "Pick up the bottle with yellow sticker label with the left arm and shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Use the left arm to pick the bottle with yellow sticker label.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Grab the bottle with curved body and shake it.",
+    "Use the left arm to grab the bottle with curved body and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick and shake the the bottle with yellow sticker label with the left arm.",
+    "Shake the bottle with curved body after picking it with the left arm.",
+    "Pick up the bottle with yellow sticker label with the left arm and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Use the left arm to pick the bottle with yellow sticker label.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Use the left arm to grab the bottle with curved body and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick and shake the the bottle with yellow sticker label with the left arm.",
+    "Shake the curvy orange bottle with white section after picking it with the left arm.",
+    "Pick up the bottle with curved body with the left arm and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Use the left arm to pick the curvy orange bottle with white section.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Grab the bottle with curved body and shake it.",
+    "Use the left arm to grab the bottle with yellow sticker label and shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick and shake the the bottle with curved body with the left arm.",
+    "Shake the curvy orange bottle with white section after picking it with the left arm.",
+    "Pick up the bottle with curved body with the left arm and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Use the left arm to pick the bottle with curved body.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Grab the bottle with curved body and shake it.",
+    "Use the left arm to grab the curvy orange bottle with white section and shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick and shake the the curvy orange bottle with white section with the left arm.",
+    "Shake the bottle with curved body after picking it with the left arm.",
+    "Pick up the bottle with yellow sticker label with the left arm and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Use the left arm to pick the bottle with curved body.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Grab the bottle with curved body and give it a shake.",
+    "Grab the bottle with curved body and shake it.",
+    "Use the left arm to grab the bottle with curved body and shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Pick and shake the the bottle with yellow sticker label with the left arm.",
+    "Shake the bottle with curved body after picking it with the left arm.",
+    "Pick up the bottle with curved body with the left arm and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Use the left arm to pick the curvy orange bottle with white section.",
+    "Grab the curvy orange bottle with white section, shake it properly, then set it down.",
+    "Grab the bottle with yellow sticker label and give it a shake.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Use the left arm to grab the curvy orange bottle with white section and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Pick and shake the the bottle with yellow sticker label with the left arm.",
+    "Shake the curvy orange bottle with white section after picking it with the left arm.",
+    "Pick up the bottle with curved body with the left arm and shake.",
+    "Pick up the bottle with yellow sticker label and shake it.",
+    "Use the left arm to pick the bottle with yellow sticker label.",
+    "Grab the bottle with curved body, shake it properly, then set it down.",
+    "Grab the curvy orange bottle with white section and give it a shake.",
+    "Grab the bottle with yellow sticker label and shake it.",
+    "Use the left arm to grab the bottle with yellow sticker label and shake.",
+    "Pick up the bottle with curved body and shake it.",
+    "Pick and shake the the curvy orange bottle with white section with the left arm.",
+    "Shake the bottle with yellow sticker label after picking it with the left arm.",
+    "Pick up the bottle with yellow sticker label with the left arm and shake.",
+    "Pick up the curvy orange bottle with white section and shake it.",
+    "Use the left arm to pick the bottle with yellow sticker label.",
+    "Grab the bottle with yellow sticker label, shake it properly, then set it down.",
+    "Grab the bottle with yellow sticker label and give it a shake."
+  ]
+}
\ No newline at end of file