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adjust_bottle/aloha-agilex_randomized_500/instructions/episode14.json

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+{
+  "seen": [
+    "Hold the red-capped bottle upright after lifting with the left arm",
+    "Pick the long thin bottle head-up using the right arm",
+    "Using the left arm, pick the bottle with white neck and red top upright",
+    "Use the left arm to hold the narrow-necked bottle from the table",
+    "Locate the hand-sized soda bottle and lift it upright with the left arm.",
+    "Hold the dark drink bottle with logo head-up after lifting it.",
+    "Lift the medium dark brown bottle from the table without mentioning the arm.",
+    "Grab the bottle with ridges on bottom head-up using the left arm from the table.",
+    "Grab the hand-sized soda bottle from the table with the left arm",
+    "Grab the bottle with ridges on bottom and lift it upright",
+    "Raise the bottle with ridges on bottom in a head-up position",
+    "Use the left arm to grab and lift the bottle with ridges on bottom head-up.",
+    "Lift the Coca-Cola bottle head-up from the table",
+    "Pick up the narrow-necked bottle from the table carefully.",
+    "Pick the bottle with white neck and red top upright from the table",
+    "Grab the Coca-Cola bottle and lift it into a head-up position",
+    "Secure the dark drink bottle with logo upright with the left arm",
+    "Grab the dark drink bottle with logo from the table and hold it head-up.",
+    "Pick up the red-capped bottle upright from the table",
+    "Hold the medium dark brown bottle upright from the table",
+    "Grab the Coca-Cola bottle with the left arm in a head-up way",
+    "Carefully grab the hand-sized soda bottle head-up",
+    "Pick the dark drink bottle with logo and keep it upright",
+    "Grab the plastic drink bottle and lift it with the left arm",
+    "Utilize the left arm to lift the bottle with white neck and red top while keeping it head-up.",
+    "Lift the medium dark brown bottle off the table and hold it upright.",
+    "Pick the smooth bottle with red lid head-up and hold it steady.",
+    "Identify the plastic drink bottle and grab it with the left arm",
+    "Lift the hand-sized soda bottle ensuring it remains upright.",
+    "Pick up the medium dark brown bottle from the table using the left arm.",
+    "Lift the long thin bottle head-up from the table.",
+    "Use the left arm to pick up the Coca-Cola bottle from the table.",
+    "Use the correct arm to pick up the smooth bottle with red lid.",
+    "Lift the brown bottle with red label from the table and secure upright",
+    "Lift the dark drink bottle with logo from the table with the left arm",
+    "Grab the plastic drink bottle and lift it upward from the table.",
+    "Pick the plastic drink bottle upright from the table",
+    "Use the left arm to lift the Coca-Cola bottle head-up",
+    "Lift the bottle the bottle with ridges on bottom headup from the table",
+    "Take the smooth bottle with red lid from the table and keep upright",
+    "Raise the red-capped bottle from the table using the correct arm, the left arm.",
+    "Use the left arm to pick the bottle with ridges on bottom up and keep it head-up.",
+    "Use the left arm to pick up the narrow-necked bottle in the correct orientation",
+    "Pick the hand-sized soda bottle up with the left arm ensuring it stays head-up.",
+    "Lift the medium dark brown bottle using the left arm and hold upright",
+    "Find the red-capped bottle on the table and raise it using the left arm.",
+    "Lift the bottle the dark drink bottle with logo up from the table",
+    "Position the smooth bottle with red lid head-up and lift it",
+    "Lift the hand-sized soda bottle upright carefully using the left arm",
+    "Lift the long thin bottle from the table upright",
+    "Hold the hand-sized soda bottle upright after lifting with the left arm",
+    "Pick the smooth bottle with red lid head-up using the right arm",
+    "Using the left arm, pick the plastic drink bottle upright",
+    "Use the left arm to hold the plastic drink bottle from the table",
+    "Locate the bottle with ridges on bottom and lift it upright with the left arm.",
+    "Hold the bottle with white neck and red top head-up after lifting it.",
+    "Lift the red-capped bottle from the table without mentioning the arm.",
+    "Grab the bottle with ridges on bottom head-up using the left arm from the table.",
+    "Grab the plastic drink bottle from the table with the left arm",
+    "Grab the hand-sized soda bottle and lift it upright",
+    "Raise the long thin bottle in a head-up position",
+    "Use the left arm to grab and lift the bottle with white neck and red top head-up.",
+    "Lift the narrow-necked bottle head-up from the table",
+    "Pick up the dark drink bottle with logo from the table carefully.",
+    "Pick the brown bottle with red label upright from the table",
+    "Grab the medium dark brown bottle and lift it into a head-up position",
+    "Secure the red-capped bottle upright with the left arm",
+    "Grab the smooth bottle with red lid from the table and hold it head-up.",
+    "Pick up the long thin bottle upright from the table",
+    "Hold the bottle with ridges on bottom upright from the table",
+    "Grab the medium dark brown bottle with the left arm in a head-up way",
+    "Carefully grab the hand-sized soda bottle head-up",
+    "Pick the narrow-necked bottle and keep it upright",
+    "Grab the Coca-Cola bottle and lift it with the left arm",
+    "Utilize the left arm to lift the bottle with ridges on bottom while keeping it head-up.",
+    "Lift the dark drink bottle with logo off the table and hold it upright.",
+    "Pick the brown bottle with red label head-up and hold it steady.",
+    "Identify the brown bottle with red label and grab it with the left arm",
+    "Lift the hand-sized soda bottle ensuring it remains upright.",
+    "Pick up the Coca-Cola bottle from the table using the left arm.",
+    "Lift the long thin bottle head-up from the table.",
+    "Use the left arm to pick up the medium dark brown bottle from the table.",
+    "Use the correct arm to pick up the brown bottle with red label.",
+    "Lift the smooth bottle with red lid from the table and secure upright",
+    "Lift the red-capped bottle from the table with the left arm",
+    "Grab the narrow-necked bottle and lift it upward from the table.",
+    "Pick the plastic drink bottle upright from the table",
+    "Use the left arm to lift the dark drink bottle with logo head-up",
+    "Lift the bottle the long thin bottle headup from the table",
+    "Take the dark drink bottle with logo from the table and keep upright",
+    "Raise the brown bottle with red label from the table using the correct arm, the left arm.",
+    "Use the left arm to pick the hand-sized soda bottle up and keep it head-up.",
+    "Use the left arm to pick up the bottle with ridges on bottom in the correct orientation",
+    "Pick the hand-sized soda bottle up with the left arm ensuring it stays head-up.",
+    "Lift the plastic drink bottle using the left arm and hold upright",
+    "Find the red-capped bottle on the table and raise it using the left arm.",
+    "Lift the bottle the bottle with ridges on bottom up from the table",
+    "Position the dark drink bottle with logo head-up and lift it",
+    "Lift the red-capped bottle upright carefully using the left arm",
+    "Lift the brown bottle with red label from the table upright"
+  ],
+  "unseen": [
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Lift the brown bottle from the table using the left arm.",
+    "Pick up the brown bottle using the correct arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the brown bottle using the correct arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Lift the brown bottle from the table using the left arm.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the brown bottle using the correct arm",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the brown bottle using the correct arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Lift the brown bottle from the table using the left arm.",
+    "Pick up the brown bottle using the correct arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Pick up the bottle with red screw cap carefully using the left arm"
+  ]
+}

adjust_bottle/aloha-agilex_randomized_500/instructions/episode160.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the brown bottle with red label from the table and hold it head-up.",
+    "Lift the medium dark brown bottle head-up from the table",
+    "Find the bottle with ridges on bottom on the table and raise it using the right arm.",
+    "Pick the brown bottle with red label upright from the table",
+    "Hold the bottle with ridges on bottom upright from the table",
+    "Use the right arm to pick the dark drink bottle with logo up and keep it head-up.",
+    "Utilize the right arm to lift the red-capped bottle while keeping it head-up.",
+    "Secure the smooth bottle with red lid upright with the right arm",
+    "Take the hand-sized soda bottle from the table and keep upright",
+    "Lift the narrow-necked bottle ensuring it remains upright.",
+    "Pick the plastic drink bottle head-up and hold it steady.",
+    "Identify the medium dark brown bottle and grab it with the right arm",
+    "Grab the brown bottle with red label head-up using the right arm from the table.",
+    "Lift the bottle with ridges on bottom head-up from the table.",
+    "Pick up the medium dark brown bottle upright from the table",
+    "Use the right arm to pick up the narrow-necked bottle in the correct orientation",
+    "Use the right arm to lift the long thin bottle head-up",
+    "Raise the dark drink bottle with logo in a head-up position",
+    "Grab the long thin bottle from the table with the right arm",
+    "Carefully grab the red-capped bottle head-up",
+    "Grab the red-capped bottle and lift it upward from the table.",
+    "Lift the plastic drink bottle using the right arm and hold upright",
+    "Pick up the long thin bottle from the table carefully.",
+    "Grab the red-capped bottle and lift it with the right arm",
+    "Lift the bottle the plastic drink bottle headup from the table",
+    "Pick the bottle with ridges on bottom upright from the table",
+    "Lift the bottle with ridges on bottom off the table and hold it upright.",
+    "Grab the bottle with white neck and red top with the right arm in a head-up way",
+    "Use the correct arm to pick up the bottle with white neck and red top.",
+    "Pick the dark drink bottle with logo and keep it upright",
+    "Lift the medium dark brown bottle from the table with the right arm",
+    "Lift the red-capped bottle upright carefully using the right arm",
+    "Use the right arm to grab and lift the plastic drink bottle head-up.",
+    "Lift the medium dark brown bottle from the table upright",
+    "Locate the hand-sized soda bottle and lift it upright with the right arm.",
+    "Using the right arm, pick the bottle with ridges on bottom upright",
+    "Use the right arm to pick up the smooth bottle with red lid from the table.",
+    "Hold the red-capped bottle upright after lifting with the right arm",
+    "Grab the Coca-Cola bottle and lift it into a head-up position",
+    "Pick up the medium dark brown bottle from the table using the right arm.",
+    "Grab the hand-sized soda bottle and lift it upright",
+    "Position the plastic drink bottle head-up and lift it",
+    "Use the right arm to hold the brown bottle with red label from the table",
+    "Hold the long thin bottle head-up after lifting it.",
+    "Raise the narrow-necked bottle from the table using the correct arm, the right arm.",
+    "Pick the smooth bottle with red lid head-up using the right arm",
+    "Lift the long thin bottle from the table and secure upright",
+    "Lift the bottle the narrow-necked bottle up from the table",
+    "Lift the bottle with ridges on bottom from the table without mentioning the arm.",
+    "Pick the brown bottle with red label up with the right arm ensuring it stays head-up.",
+    "Grab the bottle with ridges on bottom from the table and hold it head-up.",
+    "Lift the narrow-necked bottle head-up from the table",
+    "Find the long thin bottle on the table and raise it using the right arm.",
+    "Pick the red-capped bottle upright from the table",
+    "Hold the brown bottle with red label upright from the table",
+    "Use the right arm to pick the plastic drink bottle up and keep it head-up.",
+    "Utilize the right arm to lift the brown bottle with red label while keeping it head-up.",
+    "Secure the long thin bottle upright with the right arm",
+    "Take the medium dark brown bottle from the table and keep upright",
+    "Lift the red-capped bottle ensuring it remains upright.",
+    "Pick the red-capped bottle head-up and hold it steady.",
+    "Identify the hand-sized soda bottle and grab it with the right arm",
+    "Grab the plastic drink bottle head-up using the right arm from the table.",
+    "Lift the hand-sized soda bottle head-up from the table.",
+    "Pick up the bottle with ridges on bottom upright from the table",
+    "Use the right arm to pick up the bottle with ridges on bottom in the correct orientation",
+    "Use the right arm to lift the long thin bottle head-up",
+    "Raise the hand-sized soda bottle in a head-up position",
+    "Grab the red-capped bottle from the table with the right arm",
+    "Carefully grab the Coca-Cola bottle head-up",
+    "Grab the bottle with ridges on bottom and lift it upward from the table.",
+    "Lift the dark drink bottle with logo using the right arm and hold upright",
+    "Pick up the smooth bottle with red lid from the table carefully.",
+    "Grab the hand-sized soda bottle and lift it with the right arm",
+    "Lift the bottle the hand-sized soda bottle headup from the table",
+    "Pick the red-capped bottle upright from the table",
+    "Lift the smooth bottle with red lid off the table and hold it upright.",
+    "Grab the smooth bottle with red lid with the right arm in a head-up way",
+    "Use the correct arm to pick up the narrow-necked bottle.",
+    "Pick the bottle with ridges on bottom and keep it upright",
+    "Lift the narrow-necked bottle from the table with the right arm",
+    "Lift the hand-sized soda bottle upright carefully using the right arm",
+    "Use the right arm to grab and lift the long thin bottle head-up.",
+    "Lift the medium dark brown bottle from the table upright",
+    "Locate the long thin bottle and lift it upright with the right arm.",
+    "Using the right arm, pick the dark drink bottle with logo upright",
+    "Use the right arm to pick up the Coca-Cola bottle from the table.",
+    "Hold the red-capped bottle upright after lifting with the right arm",
+    "Grab the smooth bottle with red lid and lift it into a head-up position",
+    "Pick up the dark drink bottle with logo from the table using the right arm.",
+    "Grab the brown bottle with red label and lift it upright",
+    "Position the bottle with ridges on bottom head-up and lift it",
+    "Use the right arm to hold the bottle with ridges on bottom from the table",
+    "Hold the brown bottle with red label head-up after lifting it.",
+    "Raise the bottle with ridges on bottom from the table using the correct arm, the right arm.",
+    "Pick the smooth bottle with red lid head-up using the right arm",
+    "Lift the red-capped bottle from the table and secure upright",
+    "Lift the bottle the bottle with ridges on bottom up from the table",
+    "Lift the bottle with ridges on bottom from the table without mentioning the arm.",
+    "Pick the long thin bottle up with the right arm ensuring it stays head-up."
+  ],
+  "unseen": [
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the brown bottle carefully using the right arm",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Grab the brown bottle from the table with the right arm",
+    "Lift the brown bottle from the table using the right arm.",
+    "Use the right arm to grab the brown bottle upright",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Pick up the brown bottle from the table head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the brown bottle carefully using the right arm",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Grab the brown bottle from the table with the right arm",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Use the right arm to grab the brown bottle upright",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the brown bottle carefully using the right arm",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Pick up the brown bottle from the table head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Grab the brown bottle from the table with the right arm",
+    "Lift the brown bottle from the table using the right arm.",
+    "Use the right arm to grab the brown bottle upright",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Grab the brown bottle from the table with the right arm",
+    "Lift the brown bottle from the table using the right arm.",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the brown bottle carefully using the right arm",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Lift the brown bottle from the table using the right arm.",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Pick up the bottle with red screw cap from the table head-up."
+  ]
+}

adjust_bottle/aloha-agilex_randomized_500/instructions/episode188.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the narrow-necked bottle ensuring it remains upright.",
+    "Grab the long thin bottle and lift it into a head-up position",
+    "Carefully grab the brown bottle with red label head-up",
+    "Raise the medium dark brown bottle from the table using the correct arm, the left arm.",
+    "Secure the plastic drink bottle upright with the left arm",
+    "Lift the long thin bottle using the left arm and hold upright",
+    "Pick the smooth bottle with red lid head-up using the right arm",
+    "Find the red-capped bottle on the table and raise it using the left arm.",
+    "Pick the bottle with white neck and red top head-up and hold it steady.",
+    "Use the left arm to pick the long thin bottle up and keep it head-up.",
+    "Pick up the bottle with white neck and red top from the table using the left arm.",
+    "Grab the medium dark brown bottle with the left arm in a head-up way",
+    "Lift the smooth bottle with red lid off the table and hold it upright.",
+    "Grab the red-capped bottle from the table with the left arm",
+    "Use the left arm to hold the brown bottle with red label from the table",
+    "Utilize the left arm to lift the bottle with white neck and red top while keeping it head-up.",
+    "Grab the dark drink bottle with logo head-up using the left arm from the table.",
+    "Lift the hand-sized soda bottle from the table without mentioning the arm.",
+    "Grab the dark drink bottle with logo and lift it with the left arm",
+    "Use the left arm to grab and lift the plastic drink bottle head-up.",
+    "Use the left arm to pick up the narrow-necked bottle in the correct orientation",
+    "Lift the bottle the dark drink bottle with logo headup from the table",
+    "Use the left arm to lift the red-capped bottle head-up",
+    "Hold the hand-sized soda bottle upright from the table",
+    "Lift the hand-sized soda bottle head-up from the table",
+    "Use the left arm to pick up the red-capped bottle from the table.",
+    "Locate the hand-sized soda bottle and lift it upright with the left arm.",
+    "Lift the long thin bottle from the table and secure upright",
+    "Pick the Coca-Cola bottle up with the left arm ensuring it stays head-up.",
+    "Pick the long thin bottle upright from the table",
+    "Position the medium dark brown bottle head-up and lift it",
+    "Pick the long thin bottle upright from the table",
+    "Use the correct arm to pick up the dark drink bottle with logo.",
+    "Lift the red-capped bottle head-up from the table.",
+    "Pick up the long thin bottle upright from the table",
+    "Pick up the smooth bottle with red lid from the table carefully.",
+    "Lift the dark drink bottle with logo from the table upright",
+    "Grab the narrow-necked bottle from the table and hold it head-up.",
+    "Take the smooth bottle with red lid from the table and keep upright",
+    "Using the left arm, pick the Coca-Cola bottle upright",
+    "Grab the brown bottle with red label and lift it upright",
+    "Lift the dark drink bottle with logo upright carefully using the left arm",
+    "Pick the Coca-Cola bottle and keep it upright",
+    "Lift the bottle the plastic drink bottle up from the table",
+    "Grab the dark drink bottle with logo and lift it upward from the table.",
+    "Raise the long thin bottle in a head-up position",
+    "Lift the hand-sized soda bottle from the table with the left arm",
+    "Hold the narrow-necked bottle head-up after lifting it.",
+    "Identify the dark drink bottle with logo and grab it with the left arm",
+    "Hold the brown bottle with red label upright after lifting with the left arm",
+    "Lift the medium dark brown bottle ensuring it remains upright.",
+    "Grab the plastic drink bottle and lift it into a head-up position",
+    "Carefully grab the medium dark brown bottle head-up",
+    "Raise the bottle with ridges on bottom from the table using the correct arm, the left arm.",
+    "Secure the hand-sized soda bottle upright with the left arm",
+    "Lift the narrow-necked bottle using the left arm and hold upright",
+    "Pick the medium dark brown bottle head-up using the right arm",
+    "Find the medium dark brown bottle on the table and raise it using the left arm.",
+    "Pick the plastic drink bottle head-up and hold it steady.",
+    "Use the left arm to pick the plastic drink bottle up and keep it head-up.",
+    "Pick up the long thin bottle from the table using the left arm.",
+    "Grab the dark drink bottle with logo with the left arm in a head-up way",
+    "Lift the smooth bottle with red lid off the table and hold it upright.",
+    "Grab the smooth bottle with red lid from the table with the left arm",
+    "Use the left arm to hold the narrow-necked bottle from the table",
+    "Utilize the left arm to lift the long thin bottle while keeping it head-up.",
+    "Grab the plastic drink bottle head-up using the left arm from the table.",
+    "Lift the medium dark brown bottle from the table without mentioning the arm.",
+    "Grab the smooth bottle with red lid and lift it with the left arm",
+    "Use the left arm to grab and lift the red-capped bottle head-up.",
+    "Use the left arm to pick up the narrow-necked bottle in the correct orientation",
+    "Lift the bottle the dark drink bottle with logo headup from the table",
+    "Use the left arm to lift the bottle with white neck and red top head-up",
+    "Hold the plastic drink bottle upright from the table",
+    "Lift the brown bottle with red label head-up from the table",
+    "Use the left arm to pick up the narrow-necked bottle from the table.",
+    "Locate the brown bottle with red label and lift it upright with the left arm.",
+    "Lift the bottle with white neck and red top from the table and secure upright",
+    "Pick the dark drink bottle with logo up with the left arm ensuring it stays head-up.",
+    "Pick the hand-sized soda bottle upright from the table",
+    "Position the smooth bottle with red lid head-up and lift it",
+    "Pick the narrow-necked bottle upright from the table",
+    "Use the correct arm to pick up the red-capped bottle.",
+    "Lift the smooth bottle with red lid head-up from the table.",
+    "Pick up the dark drink bottle with logo upright from the table",
+    "Pick up the brown bottle with red label from the table carefully.",
+    "Lift the bottle with ridges on bottom from the table upright",
+    "Grab the long thin bottle from the table and hold it head-up.",
+    "Take the dark drink bottle with logo from the table and keep upright",
+    "Using the left arm, pick the dark drink bottle with logo upright",
+    "Grab the long thin bottle and lift it upright",
+    "Lift the narrow-necked bottle upright carefully using the left arm",
+    "Pick the plastic drink bottle and keep it upright",
+    "Lift the bottle the hand-sized soda bottle up from the table",
+    "Grab the long thin bottle and lift it upward from the table.",
+    "Raise the plastic drink bottle in a head-up position",
+    "Lift the brown bottle with red label from the table with the left arm",
+    "Hold the red-capped bottle head-up after lifting it.",
+    "Identify the Coca-Cola bottle and grab it with the left arm",
+    "Hold the bottle with ridges on bottom upright after lifting with the left arm"
+  ],
+  "unseen": [
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Grab the brown bottle from the table with the left arm",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the brown bottle carefully using the left arm",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Grab the brown bottle from the table with the left arm",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the brown bottle carefully using the left arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the brown bottle carefully using the left arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the brown bottle carefully using the left arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Grab the brown bottle from the table with the left arm",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the brown bottle carefully using the left arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the brown bottle from the table head-up.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Grab the brown bottle from the table with the left arm",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Grab the brown bottle from the table with the left arm",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the brown bottle carefully using the left arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the brown bottle from the table head-up.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Grab the plastic soda bottle on the table and raise it."
+  ]
+}

adjust_bottle/aloha-agilex_randomized_500/instructions/episode189.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the smooth green plastic bottle head-up after lifting it.",
+    "Find the bottle with narrow top on the table and raise it using the left arm.",
+    "Use the left arm to hold the medium green bottle with capped neck from the table",
+    "Lift the bottle the bottle with white printed label headup from the table",
+    "Locate the medium-sized green bottle and lift it upright with the left arm.",
+    "Use the left arm to pick up the smooth green bottle from the table.",
+    "Raise the smooth green bottle in a head-up position",
+    "Grab the bottle with white printed label and lift it upward from the table.",
+    "Pick up the green bottle with indented base from the table carefully.",
+    "Use the left arm to lift the smooth green plastic bottle head-up",
+    "Grab the smooth green plastic bottle with the left arm in a head-up way",
+    "Lift the smooth green plastic bottle off the table and hold it upright.",
+    "Lift the bottle the bottle with rounded neck up from the table",
+    "Lift the medium green bottle with capped neck upright carefully using the left arm",
+    "Lift the green bottle with indented base head-up from the table",
+    "Pick the green bottle with indented base up with the left arm ensuring it stays head-up.",
+    "Hold the medium green bottle upright after lifting with the left arm",
+    "Lift the bottle with rounded neck using the left arm and hold upright",
+    "Pick up the bottle with white printed label upright from the table",
+    "Lift the green bottle with indented base from the table and secure upright",
+    "Secure the green bottle with indented base upright with the left arm",
+    "Lift the smooth green bottle head-up from the table.",
+    "Take the bottle with rounded neck from the table and keep upright",
+    "Use the left arm to grab and lift the smooth green plastic bottle head-up.",
+    "Raise the handheld green bottle from the table using the correct arm, the left arm.",
+    "Carefully grab the medium green bottle with capped neck head-up",
+    "Identify the medium green bottle and grab it with the left arm",
+    "Pick the bottle with ridges near base head-up and hold it steady.",
+    "Grab the bottle with narrow top and lift it upright",
+    "Pick the medium green bottle and keep it upright",
+    "Lift the plastic bottle ensuring it remains upright.",
+    "Use the correct arm to pick up the bottle with white printed label.",
+    "Pick the bottle with rounded neck head-up using the right arm",
+    "Pick up the handheld green bottle from the table using the left arm.",
+    "Lift the plastic bottle from the table with the left arm",
+    "Grab the medium-sized green bottle from the table with the left arm",
+    "Using the left arm, pick the plastic bottle upright",
+    "Grab the medium green bottle and lift it into a head-up position",
+    "Use the left arm to pick up the smooth green bottle in the correct orientation",
+    "Grab the medium-sized green bottle head-up using the left arm from the table.",
+    "Grab the green bottle with indented base from the table and hold it head-up.",
+    "Pick the medium green bottle upright from the table",
+    "Utilize the left arm to lift the plastic bottle while keeping it head-up.",
+    "Grab the smooth green bottle and lift it with the left arm",
+    "Use the left arm to pick the bottle with ridges near base up and keep it head-up.",
+    "Lift the bottle with ridges near base from the table without mentioning the arm.",
+    "Pick the plastic bottle upright from the table",
+    "Position the smooth green bottle head-up and lift it",
+    "Lift the handheld green bottle from the table upright",
+    "Hold the bottle with white printed label upright from the table",
+    "Hold the handheld green bottle head-up after lifting it.",
+    "Find the bottle with rounded neck on the table and raise it using the left arm.",
+    "Use the left arm to hold the bottle with rounded neck from the table",
+    "Lift the bottle the medium green bottle headup from the table",
+    "Locate the bottle with ridges near base and lift it upright with the left arm.",
+    "Use the left arm to pick up the medium green bottle with capped neck from the table.",
+    "Raise the bottle with rounded neck in a head-up position",
+    "Grab the bottle with narrow top and lift it upward from the table.",
+    "Pick up the green bottle with indented base from the table carefully.",
+    "Use the left arm to lift the bottle with rounded neck head-up",
+    "Grab the bottle with narrow top with the left arm in a head-up way",
+    "Lift the medium green bottle off the table and hold it upright.",
+    "Lift the bottle the bottle with ridges near base up from the table",
+    "Lift the medium green bottle with capped neck upright carefully using the left arm",
+    "Lift the medium-sized green bottle head-up from the table",
+    "Pick the bottle with narrow top up with the left arm ensuring it stays head-up.",
+    "Hold the medium-sized green bottle upright after lifting with the left arm",
+    "Lift the handheld green bottle using the left arm and hold upright",
+    "Pick up the bottle with narrow top upright from the table",
+    "Lift the plastic bottle from the table and secure upright",
+    "Secure the medium-sized green bottle upright with the left arm",
+    "Lift the medium green bottle head-up from the table.",
+    "Take the medium green bottle with capped neck from the table and keep upright",
+    "Use the left arm to grab and lift the green bottle with indented base head-up.",
+    "Raise the plastic bottle from the table using the correct arm, the left arm.",
+    "Carefully grab the bottle with ridges near base head-up",
+    "Identify the medium green bottle and grab it with the left arm",
+    "Pick the medium green bottle with capped neck head-up and hold it steady.",
+    "Grab the medium green bottle with capped neck and lift it upright",
+    "Pick the green bottle with indented base and keep it upright",
+    "Lift the bottle with ridges near base ensuring it remains upright.",
+    "Use the correct arm to pick up the bottle with white printed label.",
+    "Pick the handheld green bottle head-up using the right arm",
+    "Pick up the handheld green bottle from the table using the left arm.",
+    "Lift the bottle with rounded neck from the table with the left arm",
+    "Grab the medium-sized green bottle from the table with the left arm",
+    "Using the left arm, pick the medium green bottle with capped neck upright",
+    "Grab the medium green bottle and lift it into a head-up position",
+    "Use the left arm to pick up the green bottle with indented base in the correct orientation",
+    "Grab the green bottle with indented base head-up using the left arm from the table.",
+    "Grab the bottle with white printed label from the table and hold it head-up.",
+    "Pick the green bottle with indented base upright from the table",
+    "Utilize the left arm to lift the medium green bottle with capped neck while keeping it head-up.",
+    "Grab the smooth green bottle and lift it with the left arm",
+    "Use the left arm to pick the smooth green plastic bottle up and keep it head-up.",
+    "Lift the bottle with rounded neck from the table without mentioning the arm.",
+    "Pick the bottle with narrow top upright from the table",
+    "Position the handheld green bottle head-up and lift it",
+    "Lift the medium-sized green bottle from the table upright",
+    "Hold the smooth green bottle upright from the table"
+  ],
+  "unseen": [
+    "Pick up the green bottle carefully using the left arm",
+    "Pick up the green bottle with white label using the correct arm",
+    "Pick up the green bottle from the table head-up.",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Use the left arm to grab the bottle the green bottle",
+    "Use the left arm to grab the green bottle upright",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Pick up the green bottle with white label using the correct arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Grab the green bottle on the table and raise it.",
+    "Use the left arm to grab the green bottle head-up.",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Lift the green bottle from the table using the left arm.",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Use the left arm to grab the green bottle head-up.",
+    "Use the left arm to grab the bottle the green bottle",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Grab the green bottle on the table and raise it.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Use the left arm to grab the green bottle upright",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Pick up the green bottle with white label using the correct arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Use the left arm to grab the green bottle head-up.",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Pick up the green bottle with white label using the correct arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Use the left arm to grab the bottle the green bottle",
+    "Use the left arm to grab the green bottle upright",
+    "Pick up the green plastic bottle with ridged bottom using the left arm in an upright position",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Pick up the green bottle with white label using the correct arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green bottle from the table head-up.",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Use the left arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Use the left arm to grab the green bottle upright",
+    "Pick up the green plastic bottle with ridged bottom using the left arm in an upright position",
+    "Lift the green bottle from the table using the left arm.",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Grab the green bottle from the table with the left arm",
+    "Grab the green bottle on the table and raise it.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Use the left arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Use the left arm to grab the green bottle upright",
+    "Pick up the green plastic bottle with ridged bottom using the left arm in an upright position",
+    "Lift the green bottle from the table using the left arm.",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Use the left arm to grab the bottle the green bottle",
+    "Use the left arm to grab the green plastic bottle with ridged bottom upright",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Lift the green bottle from the table using the left arm."
+  ]
+}

adjust_bottle/aloha-agilex_randomized_500/instructions/episode194.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the bottle the red-capped bottle headup from the table",
+    "Lift the red-capped bottle from the table upright",
+    "Lift the red-capped bottle off the table and hold it upright.",
+    "Use the right arm to grab and lift the narrow-necked bottle head-up.",
+    "Grab the narrow-necked bottle from the table with the right arm",
+    "Grab the brown bottle with red label and lift it into a head-up position",
+    "Grab the brown bottle with red label and lift it upward from the table.",
+    "Use the right arm to hold the narrow-necked bottle from the table",
+    "Lift the narrow-necked bottle head-up from the table",
+    "Pick the hand-sized soda bottle head-up using the right arm",
+    "Lift the medium dark brown bottle upright carefully using the right arm",
+    "Hold the smooth bottle with red lid head-up after lifting it.",
+    "Grab the narrow-necked bottle and lift it upright",
+    "Locate the long thin bottle and lift it upright with the right arm.",
+    "Lift the bottle with white neck and red top from the table and secure upright",
+    "Pick the long thin bottle up with the right arm ensuring it stays head-up.",
+    "Grab the smooth bottle with red lid head-up using the right arm from the table.",
+    "Identify the hand-sized soda bottle and grab it with the right arm",
+    "Grab the smooth bottle with red lid with the right arm in a head-up way",
+    "Find the Coca-Cola bottle on the table and raise it using the right arm.",
+    "Pick the bottle with ridges on bottom upright from the table",
+    "Lift the medium dark brown bottle head-up from the table.",
+    "Use the right arm to lift the bottle with white neck and red top head-up",
+    "Lift the bottle the hand-sized soda bottle up from the table",
+    "Pick the Coca-Cola bottle head-up and hold it steady.",
+    "Lift the hand-sized soda bottle from the table with the right arm",
+    "Hold the dark drink bottle with logo upright after lifting with the right arm",
+    "Pick the dark drink bottle with logo upright from the table",
+    "Carefully grab the hand-sized soda bottle head-up",
+    "Raise the hand-sized soda bottle from the table using the correct arm, the right arm.",
+    "Use the right arm to pick the plastic drink bottle up and keep it head-up.",
+    "Raise the red-capped bottle in a head-up position",
+    "Lift the brown bottle with red label from the table without mentioning the arm.",
+    "Use the right arm to pick up the red-capped bottle in the correct orientation",
+    "Pick up the narrow-necked bottle from the table carefully.",
+    "Position the narrow-necked bottle head-up and lift it",
+    "Utilize the right arm to lift the narrow-necked bottle while keeping it head-up.",
+    "Hold the smooth bottle with red lid upright from the table",
+    "Lift the bottle with ridges on bottom ensuring it remains upright.",
+    "Take the red-capped bottle from the table and keep upright",
+    "Using the right arm, pick the dark drink bottle with logo upright",
+    "Secure the hand-sized soda bottle upright with the right arm",
+    "Use the right arm to pick up the Coca-Cola bottle from the table.",
+    "Lift the Coca-Cola bottle using the right arm and hold upright",
+    "Grab the long thin bottle and lift it with the right arm",
+    "Pick up the long thin bottle from the table using the right arm.",
+    "Pick the red-capped bottle and keep it upright",
+    "Pick up the dark drink bottle with logo upright from the table",
+    "Grab the medium dark brown bottle from the table and hold it head-up.",
+    "Use the correct arm to pick up the long thin bottle.",
+    "Lift the bottle the hand-sized soda bottle headup from the table",
+    "Lift the brown bottle with red label from the table upright",
+    "Lift the red-capped bottle off the table and hold it upright.",
+    "Use the right arm to grab and lift the long thin bottle head-up.",
+    "Grab the bottle with white neck and red top from the table with the right arm",
+    "Grab the narrow-necked bottle and lift it into a head-up position",
+    "Grab the long thin bottle and lift it upward from the table.",
+    "Use the right arm to hold the plastic drink bottle from the table",
+    "Lift the medium dark brown bottle head-up from the table",
+    "Pick the dark drink bottle with logo head-up using the right arm",
+    "Lift the smooth bottle with red lid upright carefully using the right arm",
+    "Hold the Coca-Cola bottle head-up after lifting it.",
+    "Grab the bottle with white neck and red top and lift it upright",
+    "Locate the long thin bottle and lift it upright with the right arm.",
+    "Lift the bottle with ridges on bottom from the table and secure upright",
+    "Pick the red-capped bottle up with the right arm ensuring it stays head-up.",
+    "Grab the long thin bottle head-up using the right arm from the table.",
+    "Identify the Coca-Cola bottle and grab it with the right arm",
+    "Grab the hand-sized soda bottle with the right arm in a head-up way",
+    "Find the bottle with white neck and red top on the table and raise it using the right arm.",
+    "Pick the Coca-Cola bottle upright from the table",
+    "Lift the bottle with white neck and red top head-up from the table.",
+    "Use the right arm to lift the hand-sized soda bottle head-up",
+    "Lift the bottle the medium dark brown bottle up from the table",
+    "Pick the hand-sized soda bottle head-up and hold it steady.",
+    "Lift the smooth bottle with red lid from the table with the right arm",
+    "Hold the long thin bottle upright after lifting with the right arm",
+    "Pick the dark drink bottle with logo upright from the table",
+    "Carefully grab the hand-sized soda bottle head-up",
+    "Raise the red-capped bottle from the table using the correct arm, the right arm.",
+    "Use the right arm to pick the bottle with ridges on bottom up and keep it head-up.",
+    "Raise the plastic drink bottle in a head-up position",
+    "Lift the dark drink bottle with logo from the table without mentioning the arm.",
+    "Use the right arm to pick up the smooth bottle with red lid in the correct orientation",
+    "Pick up the hand-sized soda bottle from the table carefully.",
+    "Position the red-capped bottle head-up and lift it",
+    "Utilize the right arm to lift the brown bottle with red label while keeping it head-up.",
+    "Hold the long thin bottle upright from the table",
+    "Lift the bottle with white neck and red top ensuring it remains upright.",
+    "Take the hand-sized soda bottle from the table and keep upright",
+    "Using the right arm, pick the narrow-necked bottle upright",
+    "Secure the bottle with ridges on bottom upright with the right arm",
+    "Use the right arm to pick up the bottle with white neck and red top from the table.",
+    "Lift the smooth bottle with red lid using the right arm and hold upright",
+    "Grab the bottle with white neck and red top and lift it with the right arm",
+    "Pick up the smooth bottle with red lid from the table using the right arm.",
+    "Pick the smooth bottle with red lid and keep it upright",
+    "Pick up the plastic drink bottle upright from the table",
+    "Grab the hand-sized soda bottle from the table and hold it head-up.",
+    "Use the correct arm to pick up the medium dark brown bottle."
+  ],
+  "unseen": [
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the right arm to grab the brown bottle upright",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the brown bottle using the correct arm",
+    "Use the right arm to grab the brown bottle upright",
+    "Pick up the brown bottle from the table head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Pick up the brown bottle using the correct arm",
+    "Use the right arm to grab the brown bottle upright",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the brown bottle carefully using the right arm",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the brown bottle using the correct arm",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the brown bottle from the table head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Pick up the brown bottle from the table head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the brown bottle using the correct arm",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the brown bottle from the table head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Pick up the brown bottle carefully using the right arm",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the right arm to grab the brown bottle upright",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Use the right arm to grab the bottle the brown bottle"
+  ]
+}

adjust_bottle/aloha-agilex_randomized_500/instructions/episode203.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Grab the dark drink bottle with logo from the table and hold it head-up.",
+    "Pick up the brown bottle with red label from the table using the right arm.",
+    "Pick the hand-sized soda bottle upright from the table",
+    "Utilize the right arm to lift the hand-sized soda bottle while keeping it head-up.",
+    "Use the right arm to pick up the smooth bottle with red lid in the correct orientation",
+    "Pick the dark drink bottle with logo head-up and hold it steady.",
+    "Lift the plastic drink bottle upright carefully using the right arm",
+    "Lift the red-capped bottle from the table with the right arm",
+    "Identify the red-capped bottle and grab it with the right arm",
+    "Use the right arm to pick up the hand-sized soda bottle from the table.",
+    "Lift the bottle the bottle with white neck and red top up from the table",
+    "Pick the red-capped bottle and keep it upright",
+    "Grab the long thin bottle and lift it into a head-up position",
+    "Lift the hand-sized soda bottle head-up from the table.",
+    "Hold the red-capped bottle head-up after lifting it.",
+    "Carefully grab the long thin bottle head-up",
+    "Find the dark drink bottle with logo on the table and raise it using the right arm.",
+    "Grab the narrow-necked bottle and lift it upward from the table.",
+    "Lift the narrow-necked bottle off the table and hold it upright.",
+    "Lift the medium dark brown bottle from the table upright",
+    "Raise the plastic drink bottle in a head-up position",
+    "Pick up the bottle with white neck and red top from the table carefully.",
+    "Lift the dark drink bottle with logo using the right arm and hold upright",
+    "Grab the brown bottle with red label head-up using the right arm from the table.",
+    "Grab the long thin bottle and lift it upright",
+    "Use the correct arm to pick up the hand-sized soda bottle.",
+    "Use the right arm to grab and lift the hand-sized soda bottle head-up.",
+    "Hold the medium dark brown bottle upright from the table",
+    "Take the narrow-necked bottle from the table and keep upright",
+    "Use the right arm to pick the narrow-necked bottle up and keep it head-up.",
+    "Using the right arm, pick the long thin bottle upright",
+    "Raise the hand-sized soda bottle from the table using the correct arm, the right arm.",
+    "Locate the dark drink bottle with logo and lift it upright with the right arm.",
+    "Grab the smooth bottle with red lid with the right arm in a head-up way",
+    "Pick the dark drink bottle with logo up with the right arm ensuring it stays head-up.",
+    "Lift the dark drink bottle with logo from the table without mentioning the arm.",
+    "Lift the medium dark brown bottle head-up from the table",
+    "Lift the medium dark brown bottle ensuring it remains upright.",
+    "Position the long thin bottle head-up and lift it",
+    "Pick up the bottle with white neck and red top upright from the table",
+    "Lift the bottle the brown bottle with red label headup from the table",
+    "Grab the bottle with white neck and red top from the table with the right arm",
+    "Lift the brown bottle with red label from the table and secure upright",
+    "Use the right arm to lift the bottle with white neck and red top head-up",
+    "Grab the hand-sized soda bottle and lift it with the right arm",
+    "Pick the Coca-Cola bottle upright from the table",
+    "Pick the bottle with ridges on bottom head-up using the right arm",
+    "Secure the bottle with ridges on bottom upright with the right arm",
+    "Use the right arm to hold the smooth bottle with red lid from the table",
+    "Hold the bottle with ridges on bottom upright after lifting with the right arm",
+    "Grab the bottle with white neck and red top from the table and hold it head-up.",
+    "Pick up the smooth bottle with red lid from the table using the right arm.",
+    "Pick the medium dark brown bottle upright from the table",
+    "Utilize the right arm to lift the smooth bottle with red lid while keeping it head-up.",
+    "Use the right arm to pick up the brown bottle with red label in the correct orientation",
+    "Pick the brown bottle with red label head-up and hold it steady.",
+    "Lift the bottle with ridges on bottom upright carefully using the right arm",
+    "Lift the smooth bottle with red lid from the table with the right arm",
+    "Identify the long thin bottle and grab it with the right arm",
+    "Use the right arm to pick up the plastic drink bottle from the table.",
+    "Lift the bottle the hand-sized soda bottle up from the table",
+    "Pick the brown bottle with red label and keep it upright",
+    "Grab the bottle with ridges on bottom and lift it into a head-up position",
+    "Lift the hand-sized soda bottle head-up from the table.",
+    "Hold the hand-sized soda bottle head-up after lifting it.",
+    "Carefully grab the red-capped bottle head-up",
+    "Find the plastic drink bottle on the table and raise it using the right arm.",
+    "Grab the bottle with ridges on bottom and lift it upward from the table.",
+    "Lift the brown bottle with red label off the table and hold it upright.",
+    "Lift the dark drink bottle with logo from the table upright",
+    "Raise the dark drink bottle with logo in a head-up position",
+    "Pick up the brown bottle with red label from the table carefully.",
+    "Lift the brown bottle with red label using the right arm and hold upright",
+    "Grab the red-capped bottle head-up using the right arm from the table.",
+    "Grab the long thin bottle and lift it upright",
+    "Use the correct arm to pick up the long thin bottle.",
+    "Use the right arm to grab and lift the Coca-Cola bottle head-up.",
+    "Hold the smooth bottle with red lid upright from the table",
+    "Take the bottle with white neck and red top from the table and keep upright",
+    "Use the right arm to pick the bottle with ridges on bottom up and keep it head-up.",
+    "Using the right arm, pick the bottle with ridges on bottom upright",
+    "Raise the hand-sized soda bottle from the table using the correct arm, the right arm.",
+    "Locate the red-capped bottle and lift it upright with the right arm.",
+    "Grab the smooth bottle with red lid with the right arm in a head-up way",
+    "Pick the brown bottle with red label up with the right arm ensuring it stays head-up.",
+    "Lift the smooth bottle with red lid from the table without mentioning the arm.",
+    "Lift the narrow-necked bottle head-up from the table",
+    "Lift the dark drink bottle with logo ensuring it remains upright.",
+    "Position the Coca-Cola bottle head-up and lift it",
+    "Pick up the plastic drink bottle upright from the table",
+    "Lift the bottle the hand-sized soda bottle headup from the table",
+    "Grab the bottle with ridges on bottom from the table with the right arm",
+    "Lift the plastic drink bottle from the table and secure upright",
+    "Use the right arm to lift the narrow-necked bottle head-up",
+    "Grab the long thin bottle and lift it with the right arm",
+    "Pick the medium dark brown bottle upright from the table",
+    "Pick the smooth bottle with red lid head-up using the right arm",
+    "Secure the narrow-necked bottle upright with the right arm",
+    "Use the right arm to hold the Coca-Cola bottle from the table",
+    "Hold the medium dark brown bottle upright after lifting with the right arm"
+  ],
+  "unseen": [
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Pick up the brown bottle from the table head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Use the right arm to grab the brown bottle upright",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Use the right arm to grab the brown bottle upright",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Pick up the brown bottle using the correct arm",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Pick up the brown bottle from the table head-up.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Pick up the brown bottle carefully using the right arm",
+    "Pick up the brown bottle using the correct arm",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Pick up the brown bottle using the correct arm",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the brown bottle carefully using the right arm",
+    "Pick up the brown bottle using the correct arm",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the brown bottle carefully using the right arm",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Pick up the brown bottle from the table head-up.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Pick up the brown bottle from the table head-up.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the right arm to grab the plastic soda bottle head-up."
+  ]
+}

adjust_bottle/aloha-agilex_randomized_500/instructions/episode240.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the medium dark brown bottle from the table and secure upright",
+    "Locate the Coca-Cola bottle and lift it upright with the right arm.",
+    "Lift the plastic drink bottle from the table upright",
+    "Use the right arm to hold the smooth bottle with red lid from the table",
+    "Lift the brown bottle with red label upright carefully using the right arm",
+    "Hold the brown bottle with red label head-up after lifting it.",
+    "Hold the smooth bottle with red lid upright after lifting with the right arm",
+    "Pick up the hand-sized soda bottle from the table using the right arm.",
+    "Lift the bottle with white neck and red top from the table with the right arm",
+    "Grab the hand-sized soda bottle and lift it with the right arm",
+    "Hold the brown bottle with red label upright from the table",
+    "Lift the Coca-Cola bottle from the table without mentioning the arm.",
+    "Lift the bottle the narrow-necked bottle up from the table",
+    "Pick up the smooth bottle with red lid upright from the table",
+    "Pick the bottle with white neck and red top head-up and hold it steady.",
+    "Using the right arm, pick the narrow-necked bottle upright",
+    "Lift the bottle the brown bottle with red label headup from the table",
+    "Position the smooth bottle with red lid head-up and lift it",
+    "Grab the long thin bottle from the table with the right arm",
+    "Grab the plastic drink bottle and lift it into a head-up position",
+    "Pick the smooth bottle with red lid up with the right arm ensuring it stays head-up.",
+    "Raise the red-capped bottle in a head-up position",
+    "Lift the brown bottle with red label head-up from the table",
+    "Take the hand-sized soda bottle from the table and keep upright",
+    "Utilize the right arm to lift the smooth bottle with red lid while keeping it head-up.",
+    "Lift the bottle with white neck and red top using the right arm and hold upright",
+    "Secure the bottle with white neck and red top upright with the right arm",
+    "Grab the long thin bottle and lift it upright",
+    "Lift the smooth bottle with red lid off the table and hold it upright.",
+    "Pick the smooth bottle with red lid upright from the table",
+    "Lift the hand-sized soda bottle head-up from the table.",
+    "Raise the red-capped bottle from the table using the correct arm, the right arm.",
+    "Find the plastic drink bottle on the table and raise it using the right arm.",
+    "Identify the smooth bottle with red lid and grab it with the right arm",
+    "Use the right arm to grab and lift the plastic drink bottle head-up.",
+    "Grab the long thin bottle and lift it upward from the table.",
+    "Use the right arm to pick up the plastic drink bottle in the correct orientation",
+    "Use the right arm to lift the bottle with ridges on bottom head-up",
+    "Grab the dark drink bottle with logo with the right arm in a head-up way",
+    "Carefully grab the medium dark brown bottle head-up",
+    "Pick the plastic drink bottle head-up using the right arm",
+    "Grab the plastic drink bottle from the table and hold it head-up.",
+    "Pick up the long thin bottle from the table carefully.",
+    "Pick the narrow-necked bottle and keep it upright",
+    "Use the correct arm to pick up the bottle with white neck and red top.",
+    "Use the right arm to pick the red-capped bottle up and keep it head-up.",
+    "Pick the red-capped bottle upright from the table",
+    "Use the right arm to pick up the dark drink bottle with logo from the table.",
+    "Grab the red-capped bottle head-up using the right arm from the table.",
+    "Lift the medium dark brown bottle ensuring it remains upright.",
+    "Lift the red-capped bottle from the table and secure upright",
+    "Locate the bottle with ridges on bottom and lift it upright with the right arm.",
+    "Lift the narrow-necked bottle from the table upright",
+    "Use the right arm to hold the dark drink bottle with logo from the table",
+    "Lift the dark drink bottle with logo upright carefully using the right arm",
+    "Hold the dark drink bottle with logo head-up after lifting it.",
+    "Hold the medium dark brown bottle upright after lifting with the right arm",
+    "Pick up the plastic drink bottle from the table using the right arm.",
+    "Lift the narrow-necked bottle from the table with the right arm",
+    "Grab the smooth bottle with red lid and lift it with the right arm",
+    "Hold the plastic drink bottle upright from the table",
+    "Lift the medium dark brown bottle from the table without mentioning the arm.",
+    "Lift the bottle the Coca-Cola bottle up from the table",
+    "Pick up the bottle with white neck and red top upright from the table",
+    "Pick the Coca-Cola bottle head-up and hold it steady.",
+    "Using the right arm, pick the plastic drink bottle upright",
+    "Lift the bottle the bottle with white neck and red top headup from the table",
+    "Position the bottle with white neck and red top head-up and lift it",
+    "Grab the plastic drink bottle from the table with the right arm",
+    "Grab the medium dark brown bottle and lift it into a head-up position",
+    "Pick the smooth bottle with red lid up with the right arm ensuring it stays head-up.",
+    "Raise the long thin bottle in a head-up position",
+    "Lift the smooth bottle with red lid head-up from the table",
+    "Take the narrow-necked bottle from the table and keep upright",
+    "Utilize the right arm to lift the medium dark brown bottle while keeping it head-up.",
+    "Lift the hand-sized soda bottle using the right arm and hold upright",
+    "Secure the medium dark brown bottle upright with the right arm",
+    "Grab the smooth bottle with red lid and lift it upright",
+    "Lift the narrow-necked bottle off the table and hold it upright.",
+    "Pick the red-capped bottle upright from the table",
+    "Lift the hand-sized soda bottle head-up from the table.",
+    "Raise the Coca-Cola bottle from the table using the correct arm, the right arm.",
+    "Find the narrow-necked bottle on the table and raise it using the right arm.",
+    "Identify the smooth bottle with red lid and grab it with the right arm",
+    "Use the right arm to grab and lift the bottle with ridges on bottom head-up.",
+    "Grab the Coca-Cola bottle and lift it upward from the table.",
+    "Use the right arm to pick up the hand-sized soda bottle in the correct orientation",
+    "Use the right arm to lift the Coca-Cola bottle head-up",
+    "Grab the medium dark brown bottle with the right arm in a head-up way",
+    "Carefully grab the smooth bottle with red lid head-up",
+    "Pick the hand-sized soda bottle head-up using the right arm",
+    "Grab the dark drink bottle with logo from the table and hold it head-up.",
+    "Pick up the red-capped bottle from the table carefully.",
+    "Pick the hand-sized soda bottle and keep it upright",
+    "Use the correct arm to pick up the medium dark brown bottle.",
+    "Use the right arm to pick the dark drink bottle with logo up and keep it head-up.",
+    "Pick the red-capped bottle upright from the table",
+    "Use the right arm to pick up the smooth bottle with red lid from the table.",
+    "Grab the hand-sized soda bottle head-up using the right arm from the table.",
+    "Lift the hand-sized soda bottle ensuring it remains upright."
+  ],
+  "unseen": [
+    "Pick up the brown bottle carefully using the right arm",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the right arm to grab the brown bottle upright",
+    "Grab the brown bottle from the table with the right arm",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the right arm to grab the brown bottle upright",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the right arm to grab the brown bottle upright",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Grab the brown bottle from the table with the right arm",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Lift the brown bottle from the table using the right arm.",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the brown bottle carefully using the right arm",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Use the right arm to grab the brown bottle upright",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the brown bottle carefully using the right arm",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the right arm to grab the brown bottle upright",
+    "Grab the brown bottle from the table with the right arm",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the brown bottle carefully using the right arm",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Pick up the bottle with red screw cap using the correct arm"
+  ]
+}

adjust_bottle/aloha-agilex_randomized_500/instructions/episode276.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick the red-capped bottle head-up and hold it steady.",
+    "Pick up the smooth bottle with red lid from the table carefully.",
+    "Lift the hand-sized soda bottle from the table without mentioning the arm.",
+    "Carefully grab the brown bottle with red label head-up",
+    "Hold the dark drink bottle with logo upright after lifting with the left arm",
+    "Pick the long thin bottle upright from the table",
+    "Pick the bottle with ridges on bottom head-up using the right arm",
+    "Use the left arm to lift the hand-sized soda bottle head-up",
+    "Lift the bottle with ridges on bottom using the left arm and hold upright",
+    "Use the correct arm to pick up the long thin bottle.",
+    "Raise the narrow-necked bottle in a head-up position",
+    "Lift the medium dark brown bottle head-up from the table",
+    "Grab the plastic drink bottle and lift it upward from the table.",
+    "Find the Coca-Cola bottle on the table and raise it using the left arm.",
+    "Lift the red-capped bottle from the table with the left arm",
+    "Lift the narrow-necked bottle head-up from the table.",
+    "Using the left arm, pick the Coca-Cola bottle upright",
+    "Hold the bottle with ridges on bottom head-up after lifting it.",
+    "Grab the narrow-necked bottle from the table with the left arm",
+    "Use the left arm to grab and lift the plastic drink bottle head-up.",
+    "Lift the red-capped bottle upright carefully using the left arm",
+    "Pick up the bottle with ridges on bottom from the table using the left arm.",
+    "Grab the red-capped bottle with the left arm in a head-up way",
+    "Lift the brown bottle with red label from the table and secure upright",
+    "Pick up the smooth bottle with red lid upright from the table",
+    "Lift the red-capped bottle ensuring it remains upright.",
+    "Secure the bottle with ridges on bottom upright with the left arm",
+    "Grab the medium dark brown bottle and lift it upright",
+    "Grab the medium dark brown bottle head-up using the left arm from the table.",
+    "Utilize the left arm to lift the smooth bottle with red lid while keeping it head-up.",
+    "Lift the bottle the hand-sized soda bottle headup from the table",
+    "Lift the medium dark brown bottle from the table upright",
+    "Use the left arm to pick the medium dark brown bottle up and keep it head-up.",
+    "Lift the bottle the dark drink bottle with logo up from the table",
+    "Grab the smooth bottle with red lid from the table and hold it head-up.",
+    "Use the left arm to pick up the narrow-necked bottle in the correct orientation",
+    "Use the left arm to pick up the long thin bottle from the table.",
+    "Grab the smooth bottle with red lid and lift it with the left arm",
+    "Raise the narrow-necked bottle from the table using the correct arm, the left arm.",
+    "Grab the red-capped bottle and lift it into a head-up position",
+    "Lift the bottle with white neck and red top off the table and hold it upright.",
+    "Pick the red-capped bottle and keep it upright",
+    "Pick the hand-sized soda bottle upright from the table",
+    "Pick the medium dark brown bottle up with the left arm ensuring it stays head-up.",
+    "Identify the bottle with white neck and red top and grab it with the left arm",
+    "Use the left arm to hold the brown bottle with red label from the table",
+    "Take the bottle with ridges on bottom from the table and keep upright",
+    "Position the long thin bottle head-up and lift it",
+    "Hold the plastic drink bottle upright from the table",
+    "Locate the bottle with white neck and red top and lift it upright with the left arm.",
+    "Pick the Coca-Cola bottle head-up and hold it steady.",
+    "Pick up the narrow-necked bottle from the table carefully.",
+    "Lift the hand-sized soda bottle from the table without mentioning the arm.",
+    "Carefully grab the brown bottle with red label head-up",
+    "Hold the long thin bottle upright after lifting with the left arm",
+    "Pick the medium dark brown bottle upright from the table",
+    "Pick the Coca-Cola bottle head-up using the right arm",
+    "Use the left arm to lift the Coca-Cola bottle head-up",
+    "Lift the brown bottle with red label using the left arm and hold upright",
+    "Use the correct arm to pick up the bottle with white neck and red top.",
+    "Raise the plastic drink bottle in a head-up position",
+    "Lift the bottle with white neck and red top head-up from the table",
+    "Grab the bottle with white neck and red top and lift it upward from the table.",
+    "Find the Coca-Cola bottle on the table and raise it using the left arm.",
+    "Lift the bottle with white neck and red top from the table with the left arm",
+    "Lift the smooth bottle with red lid head-up from the table.",
+    "Using the left arm, pick the bottle with ridges on bottom upright",
+    "Hold the smooth bottle with red lid head-up after lifting it.",
+    "Grab the Coca-Cola bottle from the table with the left arm",
+    "Use the left arm to grab and lift the Coca-Cola bottle head-up.",
+    "Lift the narrow-necked bottle upright carefully using the left arm",
+    "Pick up the narrow-necked bottle from the table using the left arm.",
+    "Grab the bottle with ridges on bottom with the left arm in a head-up way",
+    "Lift the long thin bottle from the table and secure upright",
+    "Pick up the Coca-Cola bottle upright from the table",
+    "Lift the long thin bottle ensuring it remains upright.",
+    "Secure the brown bottle with red label upright with the left arm",
+    "Grab the smooth bottle with red lid and lift it upright",
+    "Grab the plastic drink bottle head-up using the left arm from the table.",
+    "Utilize the left arm to lift the smooth bottle with red lid while keeping it head-up.",
+    "Lift the bottle the smooth bottle with red lid headup from the table",
+    "Lift the bottle with white neck and red top from the table upright",
+    "Use the left arm to pick the Coca-Cola bottle up and keep it head-up.",
+    "Lift the bottle the hand-sized soda bottle up from the table",
+    "Grab the narrow-necked bottle from the table and hold it head-up.",
+    "Use the left arm to pick up the red-capped bottle in the correct orientation",
+    "Use the left arm to pick up the bottle with ridges on bottom from the table.",
+    "Grab the brown bottle with red label and lift it with the left arm",
+    "Raise the narrow-necked bottle from the table using the correct arm, the left arm.",
+    "Grab the medium dark brown bottle and lift it into a head-up position",
+    "Lift the long thin bottle off the table and hold it upright.",
+    "Pick the red-capped bottle and keep it upright",
+    "Pick the red-capped bottle upright from the table",
+    "Pick the hand-sized soda bottle up with the left arm ensuring it stays head-up.",
+    "Identify the brown bottle with red label and grab it with the left arm",
+    "Use the left arm to hold the hand-sized soda bottle from the table",
+    "Take the long thin bottle from the table and keep upright",
+    "Position the long thin bottle head-up and lift it",
+    "Hold the dark drink bottle with logo upright from the table",
+    "Locate the smooth bottle with red lid and lift it upright with the left arm."
+  ],
+  "unseen": [
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Lift the brown bottle from the table using the left arm.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Use the left arm to grab the brown bottle upright",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the brown bottle from the table with the left arm",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the brown bottle from the table with the left arm",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Lift the brown bottle from the table using the left arm.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Use the left arm to grab the brown bottle upright",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Use the left arm to grab the brown bottle upright",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Lift the bottle with red screw cap from the table using the left arm."
+  ]
+}

adjust_bottle/aloha-agilex_randomized_500/instructions/episode293.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Take the medium green bottle from the table and keep upright",
+    "Carefully grab the bottle with narrow top head-up",
+    "Grab the plastic bottle from the table and hold it head-up.",
+    "Lift the bottle with white printed label from the table upright",
+    "Utilize the right arm to lift the medium-sized green bottle while keeping it head-up.",
+    "Use the correct arm to pick up the smooth green plastic bottle.",
+    "Lift the medium green bottle head-up from the table.",
+    "Grab the bottle with white printed label and lift it upright",
+    "Use the right arm to hold the medium-sized green bottle from the table",
+    "Use the right arm to pick up the bottle with white printed label in the correct orientation",
+    "Lift the medium green bottle with capped neck from the table without mentioning the arm.",
+    "Pick up the medium green bottle from the table carefully.",
+    "Pick up the smooth green bottle from the table using the right arm.",
+    "Lift the bottle the smooth green plastic bottle up from the table",
+    "Grab the smooth green bottle and lift it into a head-up position",
+    "Use the right arm to pick the bottle with rounded neck up and keep it head-up.",
+    "Grab the plastic bottle head-up using the right arm from the table.",
+    "Locate the bottle with white printed label and lift it upright with the right arm.",
+    "Lift the green bottle with indented base from the table with the right arm",
+    "Lift the bottle the bottle with white printed label headup from the table",
+    "Hold the bottle with ridges near base upright after lifting with the right arm",
+    "Pick up the green bottle with indented base upright from the table",
+    "Lift the medium green bottle ensuring it remains upright.",
+    "Pick the medium green bottle up with the right arm ensuring it stays head-up.",
+    "Hold the bottle with narrow top upright from the table",
+    "Grab the handheld green bottle with the right arm in a head-up way",
+    "Use the right arm to grab and lift the bottle with ridges near base head-up.",
+    "Pick the bottle with rounded neck head-up using the right arm",
+    "Pick the smooth green bottle head-up and hold it steady.",
+    "Grab the medium green bottle and lift it with the right arm",
+    "Identify the bottle with white printed label and grab it with the right arm",
+    "Lift the bottle with ridges near base using the right arm and hold upright",
+    "Raise the handheld green bottle from the table using the correct arm, the right arm.",
+    "Lift the handheld green bottle off the table and hold it upright.",
+    "Pick the plastic bottle upright from the table",
+    "Grab the green bottle with indented base from the table with the right arm",
+    "Lift the bottle with narrow top from the table and secure upright",
+    "Find the green bottle with indented base on the table and raise it using the right arm.",
+    "Hold the smooth green plastic bottle head-up after lifting it.",
+    "Position the bottle with rounded neck head-up and lift it",
+    "Lift the bottle with rounded neck upright carefully using the right arm",
+    "Use the right arm to pick up the bottle with ridges near base from the table.",
+    "Raise the medium green bottle with capped neck in a head-up position",
+    "Pick the bottle with narrow top and keep it upright",
+    "Using the right arm, pick the plastic bottle upright",
+    "Use the right arm to lift the smooth green bottle head-up",
+    "Lift the handheld green bottle head-up from the table",
+    "Grab the bottle with white printed label and lift it upward from the table.",
+    "Pick the bottle with white printed label upright from the table",
+    "Secure the bottle with white printed label upright with the right arm",
+    "Take the handheld green bottle from the table and keep upright",
+    "Carefully grab the medium green bottle with capped neck head-up",
+    "Grab the bottle with white printed label from the table and hold it head-up.",
+    "Lift the bottle with rounded neck from the table upright",
+    "Utilize the right arm to lift the bottle with rounded neck while keeping it head-up.",
+    "Use the correct arm to pick up the plastic bottle.",
+    "Lift the green bottle with indented base head-up from the table.",
+    "Grab the medium-sized green bottle and lift it upright",
+    "Use the right arm to hold the bottle with rounded neck from the table",
+    "Use the right arm to pick up the medium green bottle in the correct orientation",
+    "Lift the green bottle with indented base from the table without mentioning the arm.",
+    "Pick up the medium green bottle from the table carefully.",
+    "Pick up the plastic bottle from the table using the right arm.",
+    "Lift the bottle the bottle with white printed label up from the table",
+    "Grab the medium-sized green bottle and lift it into a head-up position",
+    "Use the right arm to pick the smooth green plastic bottle up and keep it head-up.",
+    "Grab the plastic bottle head-up using the right arm from the table.",
+    "Locate the medium green bottle with capped neck and lift it upright with the right arm.",
+    "Lift the bottle with white printed label from the table with the right arm",
+    "Lift the bottle the medium green bottle with capped neck headup from the table",
+    "Hold the bottle with ridges near base upright after lifting with the right arm",
+    "Pick up the smooth green bottle upright from the table",
+    "Lift the green bottle with indented base ensuring it remains upright.",
+    "Pick the bottle with narrow top up with the right arm ensuring it stays head-up.",
+    "Hold the bottle with white printed label upright from the table",
+    "Grab the bottle with rounded neck with the right arm in a head-up way",
+    "Use the right arm to grab and lift the bottle with white printed label head-up.",
+    "Pick the smooth green bottle head-up using the right arm",
+    "Pick the smooth green bottle head-up and hold it steady.",
+    "Grab the medium green bottle and lift it with the right arm",
+    "Identify the smooth green bottle and grab it with the right arm",
+    "Lift the smooth green plastic bottle using the right arm and hold upright",
+    "Raise the bottle with rounded neck from the table using the correct arm, the right arm.",
+    "Lift the bottle with rounded neck off the table and hold it upright.",
+    "Pick the smooth green plastic bottle upright from the table",
+    "Grab the smooth green plastic bottle from the table with the right arm",
+    "Lift the medium green bottle from the table and secure upright",
+    "Find the medium green bottle with capped neck on the table and raise it using the right arm.",
+    "Hold the medium-sized green bottle head-up after lifting it.",
+    "Position the green bottle with indented base head-up and lift it",
+    "Lift the green bottle with indented base upright carefully using the right arm",
+    "Use the right arm to pick up the green bottle with indented base from the table.",
+    "Raise the plastic bottle in a head-up position",
+    "Pick the medium green bottle with capped neck and keep it upright",
+    "Using the right arm, pick the green bottle with indented base upright",
+    "Use the right arm to lift the medium green bottle with capped neck head-up",
+    "Lift the medium green bottle with capped neck head-up from the table",
+    "Grab the medium green bottle and lift it upward from the table.",
+    "Pick the bottle with ridges near base upright from the table",
+    "Secure the smooth green bottle upright with the right arm"
+  ],
+  "unseen": [
+    "Pick up the green bottle carefully using the right arm",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm",
+    "Grab the green bottle on the table and raise it.",
+    "Pick up the green bottle using the right arm in an upright position",
+    "Use the right arm to grab the bottle the green bottle with white label",
+    "Pick up the green bottle from the table head-up.",
+    "Pick up the green bottle with white label using the correct arm",
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Lift the green bottle from the table using the right arm.",
+    "Pick up the green plastic bottle with ridged bottom carefully using the right arm",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Grab the green bottle on the table and raise it.",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Use the right arm to grab the bottle the green bottle",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Use the right arm to grab the green bottle upright",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Pick up the green bottle carefully using the right arm",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Grab the green bottle on the table and raise it.",
+    "Pick up the green plastic bottle with ridged bottom using the right arm in an upright position",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Use the right arm to grab the green bottle head-up.",
+    "Use the right arm to grab the green bottle upright",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Pick up the green plastic bottle with ridged bottom carefully using the right arm",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Pick up the green plastic bottle with ridged bottom using the right arm in an upright position",
+    "Use the right arm to grab the bottle the green bottle with white label",
+    "Pick up the green bottle from the table head-up.",
+    "Pick up the green bottle using the correct arm",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Lift the green bottle from the table using the right arm.",
+    "Pick up the green bottle carefully using the right arm",
+    "Grab the green bottle from the table with the right arm",
+    "Grab the green bottle on the table and raise it.",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green bottle from the table head-up.",
+    "Pick up the green bottle using the correct arm",
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Use the right arm to grab the green bottle upright",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Pick up the green bottle carefully using the right arm",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Use the right arm to grab the bottle the green bottle",
+    "Pick up the green bottle from the table head-up.",
+    "Pick up the green bottle using the correct arm",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Use the right arm to grab the green bottle upright",
+    "Lift the green bottle from the table using the right arm.",
+    "Pick up the green bottle carefully using the right arm",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Use the right arm to grab the bottle the green bottle",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Pick up the green bottle carefully using the right arm",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm",
+    "Grab the green bottle on the table and raise it.",
+    "Pick up the green bottle using the right arm in an upright position",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Pick up the green bottle using the correct arm",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Lift the green bottle from the table using the right arm.",
+    "Pick up the green bottle with white label carefully using the right arm",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Grab the green bottle on the table and raise it.",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Pick up the green bottle with white label using the correct arm",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Pick up the green bottle carefully using the right arm",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Pick up the green plastic bottle with ridged bottom using the right arm in an upright position",
+    "Use the right arm to grab the bottle the green bottle",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Pick up the green bottle with white label using the correct arm",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Use the right arm to grab the green bottle upright",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm."
+  ]
+}

adjust_bottle/aloha-agilex_randomized_500/instructions/episode324.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the bottle the bottle with rounded neck headup from the table",
+    "Lift the bottle with narrow top ensuring it remains upright.",
+    "Lift the bottle with white printed label from the table and secure upright",
+    "Grab the green bottle with indented base and lift it upward from the table.",
+    "Use the left arm to lift the bottle with narrow top head-up",
+    "Pick the medium-sized green bottle head-up and hold it steady.",
+    "Use the left arm to grab and lift the medium green bottle with capped neck head-up.",
+    "Using the left arm, pick the smooth green bottle upright",
+    "Lift the bottle with rounded neck off the table and hold it upright.",
+    "Use the left arm to pick up the bottle with rounded neck in the correct orientation",
+    "Raise the bottle with rounded neck in a head-up position",
+    "Lift the smooth green plastic bottle upright carefully using the left arm",
+    "Pick up the medium-sized green bottle from the table carefully.",
+    "Use the left arm to pick up the plastic bottle from the table.",
+    "Find the handheld green bottle on the table and raise it using the left arm.",
+    "Grab the green bottle with indented base from the table with the left arm",
+    "Lift the handheld green bottle head-up from the table",
+    "Lift the handheld green bottle from the table with the left arm",
+    "Grab the bottle with rounded neck from the table and hold it head-up.",
+    "Pick the smooth green plastic bottle head-up using the right arm",
+    "Use the left arm to hold the bottle with narrow top from the table",
+    "Lift the bottle with rounded neck head-up from the table.",
+    "Hold the bottle with rounded neck upright after lifting with the left arm",
+    "Grab the smooth green bottle with the left arm in a head-up way",
+    "Carefully grab the bottle with narrow top head-up",
+    "Grab the smooth green bottle and lift it upright",
+    "Use the left arm to pick the medium-sized green bottle up and keep it head-up.",
+    "Utilize the left arm to lift the medium green bottle with capped neck while keeping it head-up.",
+    "Pick the bottle with narrow top and keep it upright",
+    "Raise the medium-sized green bottle from the table using the correct arm, the left arm.",
+    "Grab the green bottle with indented base head-up using the left arm from the table.",
+    "Locate the handheld green bottle and lift it upright with the left arm.",
+    "Secure the bottle with ridges near base upright with the left arm",
+    "Pick the handheld green bottle upright from the table",
+    "Lift the bottle with rounded neck from the table upright",
+    "Identify the plastic bottle and grab it with the left arm",
+    "Grab the medium green bottle and lift it into a head-up position",
+    "Pick up the bottle with rounded neck from the table using the left arm.",
+    "Lift the bottle with white printed label using the left arm and hold upright",
+    "Grab the green bottle with indented base and lift it with the left arm",
+    "Pick up the plastic bottle upright from the table",
+    "Pick the medium green bottle with capped neck upright from the table",
+    "Lift the bottle the medium green bottle up from the table",
+    "Use the correct arm to pick up the bottle with rounded neck.",
+    "Take the plastic bottle from the table and keep upright",
+    "Pick the handheld green bottle up with the left arm ensuring it stays head-up.",
+    "Lift the bottle with rounded neck from the table without mentioning the arm.",
+    "Hold the medium green bottle head-up after lifting it.",
+    "Hold the bottle with narrow top upright from the table",
+    "Position the handheld green bottle head-up and lift it",
+    "Lift the bottle the green bottle with indented base headup from the table",
+    "Lift the bottle with narrow top ensuring it remains upright.",
+    "Lift the smooth green bottle from the table and secure upright",
+    "Grab the handheld green bottle and lift it upward from the table.",
+    "Use the left arm to lift the green bottle with indented base head-up",
+    "Pick the plastic bottle head-up and hold it steady.",
+    "Use the left arm to grab and lift the medium green bottle with capped neck head-up.",
+    "Using the left arm, pick the medium green bottle upright",
+    "Lift the green bottle with indented base off the table and hold it upright.",
+    "Use the left arm to pick up the plastic bottle in the correct orientation",
+    "Raise the bottle with rounded neck in a head-up position",
+    "Lift the medium green bottle upright carefully using the left arm",
+    "Pick up the handheld green bottle from the table carefully.",
+    "Use the left arm to pick up the smooth green bottle from the table.",
+    "Find the medium-sized green bottle on the table and raise it using the left arm.",
+    "Grab the medium-sized green bottle from the table with the left arm",
+    "Lift the smooth green bottle head-up from the table",
+    "Lift the plastic bottle from the table with the left arm",
+    "Grab the handheld green bottle from the table and hold it head-up.",
+    "Pick the green bottle with indented base head-up using the right arm",
+    "Use the left arm to hold the handheld green bottle from the table",
+    "Lift the bottle with rounded neck head-up from the table.",
+    "Hold the medium green bottle upright after lifting with the left arm",
+    "Grab the medium-sized green bottle with the left arm in a head-up way",
+    "Carefully grab the green bottle with indented base head-up",
+    "Grab the bottle with ridges near base and lift it upright",
+    "Use the left arm to pick the bottle with white printed label up and keep it head-up.",
+    "Utilize the left arm to lift the smooth green plastic bottle while keeping it head-up.",
+    "Pick the bottle with white printed label and keep it upright",
+    "Raise the medium green bottle from the table using the correct arm, the left arm.",
+    "Grab the smooth green bottle head-up using the left arm from the table.",
+    "Locate the bottle with narrow top and lift it upright with the left arm.",
+    "Secure the bottle with rounded neck upright with the left arm",
+    "Pick the handheld green bottle upright from the table",
+    "Lift the plastic bottle from the table upright",
+    "Identify the medium green bottle and grab it with the left arm",
+    "Grab the handheld green bottle and lift it into a head-up position",
+    "Pick up the medium green bottle from the table using the left arm.",
+    "Lift the bottle with rounded neck using the left arm and hold upright",
+    "Grab the smooth green plastic bottle and lift it with the left arm",
+    "Pick up the medium green bottle with capped neck upright from the table",
+    "Pick the medium green bottle upright from the table",
+    "Lift the bottle the medium green bottle with capped neck up from the table",
+    "Use the correct arm to pick up the smooth green bottle.",
+    "Take the bottle with narrow top from the table and keep upright",
+    "Pick the smooth green bottle up with the left arm ensuring it stays head-up.",
+    "Lift the handheld green bottle from the table without mentioning the arm.",
+    "Hold the smooth green bottle head-up after lifting it.",
+    "Hold the handheld green bottle upright from the table",
+    "Position the plastic bottle head-up and lift it"
+  ],
+  "unseen": [
+    "Pick up the green bottle carefully using the left arm",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle from the table head-up.",
+    "Grab the green bottle from the table with the left arm",
+    "Pick up the green bottle with white label using the correct arm",
+    "Use the left arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Use the left arm to grab the green bottle upright",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Pick up the green bottle using the correct arm",
+    "Use the left arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom upright",
+    "Lift the green bottle from the table using the left arm.",
+    "Pick up the green bottle carefully using the left arm",
+    "Pick up the green plastic bottle with ridged bottom using the left arm in an upright position",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Pick up the green bottle with white label using the correct arm",
+    "Use the left arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Use the left arm to grab the green bottle head-up.",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Pick up the green bottle with white label using the correct arm",
+    "Use the left arm to grab the bottle the green bottle",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Pick up the green plastic bottle with ridged bottom using the left arm in an upright position",
+    "Use the left arm to grab the green bottle head-up.",
+    "Pick up the green bottle from the table head-up.",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Pick up the green bottle with white label using the correct arm",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Pick up the green bottle carefully using the left arm",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Use the left arm to grab the green bottle head-up.",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Grab the green bottle from the table with the left arm",
+    "Pick up the green bottle using the correct arm",
+    "Use the left arm to grab the bottle the green bottle",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom upright",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Use the left arm to grab the green bottle head-up.",
+    "Pick up the green bottle from the table head-up.",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Pick up the green bottle with white label using the correct arm",
+    "Use the left arm to grab the bottle the green bottle",
+    "Grab the green bottle on the table and raise it.",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Use the left arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Pick up the green bottle using the correct arm",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Lift the green bottle from the table using the left arm.",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Use the left arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Grab the green bottle on the table and raise it.",
+    "Use the left arm to grab the green bottle upright",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Pick up the green bottle carefully using the left arm",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Use the left arm to grab the green bottle head-up.",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Grab the green bottle from the table with the left arm",
+    "Pick up the green bottle with white label using the correct arm",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Lift the green bottle from the table using the left arm."
+  ]
+}

adjust_bottle/aloha-agilex_randomized_500/instructions/episode330.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Hold the plastic bottle upright after lifting with the right arm",
+    "Lift the bottle with white printed label upright carefully using the right arm",
+    "Grab the bottle with white printed label and lift it into a head-up position",
+    "Raise the green bottle with indented base in a head-up position",
+    "Use the right arm to pick up the smooth green bottle from the table.",
+    "Lift the handheld green bottle ensuring it remains upright.",
+    "Lift the smooth green bottle off the table and hold it upright.",
+    "Grab the bottle with narrow top head-up using the right arm from the table.",
+    "Pick the bottle with narrow top head-up using the right arm",
+    "Use the right arm to lift the medium-sized green bottle head-up",
+    "Pick up the medium green bottle from the table carefully.",
+    "Pick the medium green bottle with capped neck up with the right arm ensuring it stays head-up.",
+    "Pick the medium green bottle with capped neck upright from the table",
+    "Hold the bottle with narrow top upright from the table",
+    "Grab the bottle with narrow top from the table and hold it head-up.",
+    "Hold the bottle with ridges near base head-up after lifting it.",
+    "Lift the medium green bottle with capped neck head-up from the table",
+    "Lift the bottle the bottle with ridges near base up from the table",
+    "Lift the medium-sized green bottle using the right arm and hold upright",
+    "Use the right arm to pick the handheld green bottle up and keep it head-up.",
+    "Position the smooth green bottle head-up and lift it",
+    "Pick up the medium-sized green bottle upright from the table",
+    "Use the correct arm to pick up the medium-sized green bottle.",
+    "Pick the bottle with rounded neck and keep it upright",
+    "Lift the bottle with ridges near base from the table and secure upright",
+    "Use the right arm to grab and lift the medium green bottle head-up.",
+    "Lift the medium green bottle from the table without mentioning the arm.",
+    "Use the right arm to hold the medium green bottle from the table",
+    "Pick the green bottle with indented base head-up and hold it steady.",
+    "Find the bottle with white printed label on the table and raise it using the right arm.",
+    "Pick up the medium green bottle with capped neck from the table using the right arm.",
+    "Lift the medium green bottle with capped neck from the table upright",
+    "Grab the handheld green bottle and lift it upright",
+    "Identify the medium green bottle with capped neck and grab it with the right arm",
+    "Grab the smooth green plastic bottle and lift it with the right arm",
+    "Grab the smooth green bottle from the table with the right arm",
+    "Raise the bottle with ridges near base from the table using the correct arm, the right arm.",
+    "Locate the bottle with narrow top and lift it upright with the right arm.",
+    "Using the right arm, pick the smooth green bottle upright",
+    "Take the handheld green bottle from the table and keep upright",
+    "Grab the bottle with rounded neck with the right arm in a head-up way",
+    "Carefully grab the plastic bottle head-up",
+    "Pick the bottle with rounded neck upright from the table",
+    "Lift the bottle the plastic bottle headup from the table",
+    "Use the right arm to pick up the plastic bottle in the correct orientation",
+    "Secure the plastic bottle upright with the right arm",
+    "Lift the medium-sized green bottle from the table with the right arm",
+    "Lift the bottle with white printed label head-up from the table.",
+    "Utilize the right arm to lift the plastic bottle while keeping it head-up.",
+    "Grab the medium-sized green bottle and lift it upward from the table.",
+    "Hold the smooth green plastic bottle upright after lifting with the right arm",
+    "Lift the green bottle with indented base upright carefully using the right arm",
+    "Grab the handheld green bottle and lift it into a head-up position",
+    "Raise the medium green bottle in a head-up position",
+    "Use the right arm to pick up the handheld green bottle from the table.",
+    "Lift the plastic bottle ensuring it remains upright.",
+    "Lift the bottle with ridges near base off the table and hold it upright.",
+    "Grab the bottle with narrow top head-up using the right arm from the table.",
+    "Pick the bottle with white printed label head-up using the right arm",
+    "Use the right arm to lift the bottle with narrow top head-up",
+    "Pick up the bottle with rounded neck from the table carefully.",
+    "Pick the bottle with narrow top up with the right arm ensuring it stays head-up.",
+    "Pick the smooth green plastic bottle upright from the table",
+    "Hold the smooth green plastic bottle upright from the table",
+    "Grab the medium-sized green bottle from the table and hold it head-up.",
+    "Hold the handheld green bottle head-up after lifting it.",
+    "Lift the medium green bottle with capped neck head-up from the table",
+    "Lift the bottle the medium green bottle with capped neck up from the table",
+    "Lift the medium-sized green bottle using the right arm and hold upright",
+    "Use the right arm to pick the smooth green bottle up and keep it head-up.",
+    "Position the medium green bottle head-up and lift it",
+    "Pick up the green bottle with indented base upright from the table",
+    "Use the correct arm to pick up the bottle with rounded neck.",
+    "Pick the medium-sized green bottle and keep it upright",
+    "Lift the bottle with rounded neck from the table and secure upright",
+    "Use the right arm to grab and lift the smooth green plastic bottle head-up.",
+    "Lift the bottle with white printed label from the table without mentioning the arm.",
+    "Use the right arm to hold the handheld green bottle from the table",
+    "Pick the smooth green plastic bottle head-up and hold it steady.",
+    "Find the medium green bottle with capped neck on the table and raise it using the right arm.",
+    "Pick up the medium-sized green bottle from the table using the right arm.",
+    "Lift the bottle with ridges near base from the table upright",
+    "Grab the medium-sized green bottle and lift it upright",
+    "Identify the bottle with rounded neck and grab it with the right arm",
+    "Grab the bottle with white printed label and lift it with the right arm",
+    "Grab the smooth green plastic bottle from the table with the right arm",
+    "Raise the medium green bottle from the table using the correct arm, the right arm.",
+    "Locate the bottle with white printed label and lift it upright with the right arm.",
+    "Using the right arm, pick the plastic bottle upright",
+    "Take the handheld green bottle from the table and keep upright",
+    "Grab the green bottle with indented base with the right arm in a head-up way",
+    "Carefully grab the smooth green plastic bottle head-up",
+    "Pick the bottle with white printed label upright from the table",
+    "Lift the bottle the medium green bottle headup from the table",
+    "Use the right arm to pick up the bottle with narrow top in the correct orientation",
+    "Secure the medium-sized green bottle upright with the right arm",
+    "Lift the bottle with narrow top from the table with the right arm",
+    "Lift the green bottle with indented base head-up from the table.",
+    "Utilize the right arm to lift the bottle with narrow top while keeping it head-up.",
+    "Grab the bottle with ridges near base and lift it upward from the table."
+  ],
+  "unseen": [
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Pick up the green plastic bottle with ridged bottom carefully using the right arm",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Pick up the green plastic bottle with ridged bottom using the right arm in an upright position",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Grab the green bottle on the table and raise it.",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green bottle using the correct arm",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Pick up the green bottle carefully using the right arm",
+    "Use the right arm to grab the green bottle head-up.",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Lift the green bottle from the table using the right arm.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Grab the green bottle from the table with the right arm",
+    "Pick up the green bottle with white label carefully using the right arm",
+    "Use the right arm to grab the green bottle head-up.",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Grab the green bottle on the table and raise it.",
+    "Use the right arm to grab the bottle the green bottle",
+    "Pick up the green bottle with white label using the correct arm",
+    "Lift the green bottle from the table using the right arm.",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Grab the green bottle from the table with the right arm",
+    "Pick up the green plastic bottle with ridged bottom carefully using the right arm",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle using the right arm in an upright position",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Grab the green bottle on the table and raise it.",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Use the right arm to grab the green bottle upright",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm",
+    "Pick up the green plastic bottle with ridged bottom carefully using the right arm",
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Pick up the green bottle from the table head-up.",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Use the right arm to grab the bottle the green bottle with white label",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Lift the green bottle from the table using the right arm.",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Grab the green bottle from the table with the right arm",
+    "Pick up the green bottle with white label carefully using the right arm",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Use the right arm to grab the bottle the green bottle",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Pick up the green bottle with white label carefully using the right arm",
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Pick up the green bottle using the right arm in an upright position",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Use the right arm to grab the bottle the green bottle",
+    "Pick up the green bottle using the correct arm",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Grab the green bottle from the table with the right arm",
+    "Pick up the green plastic bottle with ridged bottom carefully using the right arm",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Use the right arm to grab the bottle the green bottle with white label",
+    "Pick up the green bottle using the correct arm",
+    "Lift the green bottle from the table using the right arm.",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Grab the green bottle from the table with the right arm",
+    "Pick up the green plastic bottle with ridged bottom carefully using the right arm",
+    "Use the right arm to grab the green bottle head-up.",
+    "Pick up the green bottle using the right arm in an upright position",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Grab the green bottle on the table and raise it.",
+    "Use the right arm to grab the bottle the green bottle with white label",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Lift the green bottle from the table using the right arm.",
+    "Use the right arm to grab the green bottle upright",
+    "Grab the green bottle from the table with the right arm",
+    "Pick up the green plastic bottle with ridged bottom carefully using the right arm",
+    "Use the right arm to grab the green bottle head-up.",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Pick up the green bottle from the table head-up.",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom"
+  ]
+}

adjust_bottle/aloha-agilex_randomized_500/instructions/episode372.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Use the left arm to grab and lift the dark drink bottle with logo head-up.",
+    "Grab the smooth bottle with red lid and lift it upright",
+    "Lift the Coca-Cola bottle off the table and hold it upright.",
+    "Grab the plastic drink bottle and lift it upward from the table.",
+    "Lift the Coca-Cola bottle upright carefully using the left arm",
+    "Raise the bottle with white neck and red top in a head-up position",
+    "Lift the dark drink bottle with logo from the table upright",
+    "Take the dark drink bottle with logo from the table and keep upright",
+    "Pick the Coca-Cola bottle upright from the table",
+    "Pick the narrow-necked bottle up with the left arm ensuring it stays head-up.",
+    "Lift the brown bottle with red label head-up from the table",
+    "Grab the medium dark brown bottle and lift it with the left arm",
+    "Use the left arm to pick up the brown bottle with red label in the correct orientation",
+    "Carefully grab the narrow-necked bottle head-up",
+    "Use the left arm to hold the medium dark brown bottle from the table",
+    "Use the left arm to pick up the bottle with white neck and red top from the table.",
+    "Lift the bottle the brown bottle with red label headup from the table",
+    "Lift the bottle with ridges on bottom ensuring it remains upright.",
+    "Pick the brown bottle with red label and keep it upright",
+    "Grab the red-capped bottle with the left arm in a head-up way",
+    "Pick up the red-capped bottle from the table using the left arm.",
+    "Lift the plastic drink bottle head-up from the table.",
+    "Pick up the medium dark brown bottle from the table carefully.",
+    "Lift the bottle with ridges on bottom from the table without mentioning the arm.",
+    "Grab the brown bottle with red label head-up using the left arm from the table.",
+    "Utilize the left arm to lift the narrow-necked bottle while keeping it head-up.",
+    "Lift the bottle the plastic drink bottle up from the table",
+    "Grab the hand-sized soda bottle and lift it into a head-up position",
+    "Grab the medium dark brown bottle from the table with the left arm",
+    "Use the correct arm to pick up the smooth bottle with red lid.",
+    "Find the Coca-Cola bottle on the table and raise it using the left arm.",
+    "Using the left arm, pick the medium dark brown bottle upright",
+    "Grab the narrow-necked bottle from the table and hold it head-up.",
+    "Use the left arm to lift the smooth bottle with red lid head-up",
+    "Pick the red-capped bottle head-up using the right arm",
+    "Hold the red-capped bottle upright from the table",
+    "Use the left arm to pick the medium dark brown bottle up and keep it head-up.",
+    "Lift the long thin bottle from the table with the left arm",
+    "Identify the smooth bottle with red lid and grab it with the left arm",
+    "Raise the red-capped bottle from the table using the correct arm, the left arm.",
+    "Pick the Coca-Cola bottle head-up and hold it steady.",
+    "Hold the narrow-necked bottle head-up after lifting it.",
+    "Pick up the medium dark brown bottle upright from the table",
+    "Hold the narrow-necked bottle upright after lifting with the left arm",
+    "Position the long thin bottle head-up and lift it",
+    "Secure the hand-sized soda bottle upright with the left arm",
+    "Pick the Coca-Cola bottle upright from the table",
+    "Lift the bottle with white neck and red top using the left arm and hold upright",
+    "Locate the brown bottle with red label and lift it upright with the left arm.",
+    "Lift the hand-sized soda bottle from the table and secure upright",
+    "Use the left arm to grab and lift the red-capped bottle head-up.",
+    "Grab the medium dark brown bottle and lift it upright",
+    "Lift the smooth bottle with red lid off the table and hold it upright.",
+    "Grab the narrow-necked bottle and lift it upward from the table.",
+    "Lift the hand-sized soda bottle upright carefully using the left arm",
+    "Raise the medium dark brown bottle in a head-up position",
+    "Lift the plastic drink bottle from the table upright",
+    "Take the narrow-necked bottle from the table and keep upright",
+    "Pick the bottle with ridges on bottom upright from the table",
+    "Pick the bottle with ridges on bottom up with the left arm ensuring it stays head-up.",
+    "Lift the Coca-Cola bottle head-up from the table",
+    "Grab the narrow-necked bottle and lift it with the left arm",
+    "Use the left arm to pick up the long thin bottle in the correct orientation",
+    "Carefully grab the bottle with white neck and red top head-up",
+    "Use the left arm to hold the hand-sized soda bottle from the table",
+    "Use the left arm to pick up the narrow-necked bottle from the table.",
+    "Lift the bottle the bottle with ridges on bottom headup from the table",
+    "Lift the narrow-necked bottle ensuring it remains upright.",
+    "Pick the bottle with ridges on bottom and keep it upright",
+    "Grab the medium dark brown bottle with the left arm in a head-up way",
+    "Pick up the brown bottle with red label from the table using the left arm.",
+    "Lift the long thin bottle head-up from the table.",
+    "Pick up the Coca-Cola bottle from the table carefully.",
+    "Lift the brown bottle with red label from the table without mentioning the arm.",
+    "Grab the Coca-Cola bottle head-up using the left arm from the table.",
+    "Utilize the left arm to lift the long thin bottle while keeping it head-up.",
+    "Lift the bottle the plastic drink bottle up from the table",
+    "Grab the medium dark brown bottle and lift it into a head-up position",
+    "Grab the smooth bottle with red lid from the table with the left arm",
+    "Use the correct arm to pick up the red-capped bottle.",
+    "Find the smooth bottle with red lid on the table and raise it using the left arm.",
+    "Using the left arm, pick the narrow-necked bottle upright",
+    "Grab the Coca-Cola bottle from the table and hold it head-up.",
+    "Use the left arm to lift the narrow-necked bottle head-up",
+    "Pick the bottle with ridges on bottom head-up using the right arm",
+    "Hold the red-capped bottle upright from the table",
+    "Use the left arm to pick the long thin bottle up and keep it head-up.",
+    "Lift the Coca-Cola bottle from the table with the left arm",
+    "Identify the long thin bottle and grab it with the left arm",
+    "Raise the bottle with white neck and red top from the table using the correct arm, the left arm.",
+    "Pick the long thin bottle head-up and hold it steady.",
+    "Hold the long thin bottle head-up after lifting it.",
+    "Pick up the smooth bottle with red lid upright from the table",
+    "Hold the plastic drink bottle upright after lifting with the left arm",
+    "Position the Coca-Cola bottle head-up and lift it",
+    "Secure the narrow-necked bottle upright with the left arm",
+    "Pick the hand-sized soda bottle upright from the table",
+    "Lift the Coca-Cola bottle using the left arm and hold upright",
+    "Locate the narrow-necked bottle and lift it upright with the left arm.",
+    "Lift the long thin bottle from the table and secure upright"
+  ],
+  "unseen": [
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the brown bottle upright",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the brown bottle upright",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Lift the brown bottle from the table using the left arm.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the brown bottle upright",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the brown bottle upright",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the brown bottle from the table with the left arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Lift the brown bottle from the table using the left arm.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the brown bottle from the table with the left arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the brown bottle upright",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the brown bottle from the table with the left arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Lift the brown bottle from the table using the left arm.",
+    "Pick up the brown bottle carefully using the left arm"
+  ]
+}

adjust_bottle/aloha-agilex_randomized_500/instructions/episode382.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Raise the bottle with rounded neck from the table using the correct arm, the right arm.",
+    "Pick up the bottle with rounded neck from the table using the right arm.",
+    "Use the right arm to pick up the bottle with ridges near base from the table.",
+    "Hold the smooth green bottle upright from the table",
+    "Lift the green bottle with indented base from the table with the right arm",
+    "Hold the handheld green bottle head-up after lifting it.",
+    "Lift the green bottle with indented base upright carefully using the right arm",
+    "Utilize the right arm to lift the plastic bottle while keeping it head-up.",
+    "Grab the medium-sized green bottle and lift it with the right arm",
+    "Position the medium-sized green bottle head-up and lift it",
+    "Lift the bottle with rounded neck using the right arm and hold upright",
+    "Lift the bottle the handheld green bottle up from the table",
+    "Lift the medium-sized green bottle from the table without mentioning the arm.",
+    "Lift the bottle the plastic bottle headup from the table",
+    "Lift the medium-sized green bottle from the table and secure upright",
+    "Pick the smooth green bottle head-up using the right arm",
+    "Locate the medium green bottle with capped neck and lift it upright with the right arm.",
+    "Secure the smooth green plastic bottle upright with the right arm",
+    "Use the right arm to grab and lift the handheld green bottle head-up.",
+    "Use the correct arm to pick up the green bottle with indented base.",
+    "Identify the bottle with ridges near base and grab it with the right arm",
+    "Grab the plastic bottle from the table with the right arm",
+    "Grab the smooth green bottle with the right arm in a head-up way",
+    "Find the bottle with ridges near base on the table and raise it using the right arm.",
+    "Use the right arm to hold the plastic bottle from the table",
+    "Grab the smooth green plastic bottle head-up using the right arm from the table.",
+    "Hold the bottle with narrow top upright after lifting with the right arm",
+    "Pick the medium green bottle with capped neck and keep it upright",
+    "Lift the plastic bottle head-up from the table.",
+    "Lift the handheld green bottle ensuring it remains upright.",
+    "Using the right arm, pick the bottle with rounded neck upright",
+    "Grab the bottle with rounded neck from the table and hold it head-up.",
+    "Carefully grab the green bottle with indented base head-up",
+    "Lift the plastic bottle head-up from the table",
+    "Grab the bottle with white printed label and lift it upward from the table.",
+    "Use the right arm to pick the medium green bottle with capped neck up and keep it head-up.",
+    "Use the right arm to lift the bottle with white printed label head-up",
+    "Pick the medium-sized green bottle up with the right arm ensuring it stays head-up.",
+    "Pick the plastic bottle head-up and hold it steady.",
+    "Pick up the bottle with narrow top from the table carefully.",
+    "Take the handheld green bottle from the table and keep upright",
+    "Grab the handheld green bottle and lift it upright",
+    "Pick the handheld green bottle upright from the table",
+    "Lift the smooth green plastic bottle from the table upright",
+    "Use the right arm to pick up the medium-sized green bottle in the correct orientation",
+    "Grab the bottle with white printed label and lift it into a head-up position",
+    "Pick the bottle with narrow top upright from the table",
+    "Raise the green bottle with indented base in a head-up position",
+    "Pick up the green bottle with indented base upright from the table",
+    "Lift the medium-sized green bottle off the table and hold it upright.",
+    "Raise the bottle with white printed label from the table using the correct arm, the right arm.",
+    "Pick up the handheld green bottle from the table using the right arm.",
+    "Use the right arm to pick up the medium green bottle from the table.",
+    "Hold the smooth green plastic bottle upright from the table",
+    "Lift the medium green bottle with capped neck from the table with the right arm",
+    "Hold the smooth green bottle head-up after lifting it.",
+    "Lift the smooth green bottle upright carefully using the right arm",
+    "Utilize the right arm to lift the smooth green bottle while keeping it head-up.",
+    "Grab the bottle with rounded neck and lift it with the right arm",
+    "Position the plastic bottle head-up and lift it",
+    "Lift the bottle with white printed label using the right arm and hold upright",
+    "Lift the bottle the medium green bottle up from the table",
+    "Lift the plastic bottle from the table without mentioning the arm.",
+    "Lift the bottle the plastic bottle headup from the table",
+    "Lift the bottle with rounded neck from the table and secure upright",
+    "Pick the bottle with white printed label head-up using the right arm",
+    "Locate the green bottle with indented base and lift it upright with the right arm.",
+    "Secure the medium green bottle with capped neck upright with the right arm",
+    "Use the right arm to grab and lift the medium-sized green bottle head-up.",
+    "Use the correct arm to pick up the bottle with white printed label.",
+    "Identify the medium green bottle with capped neck and grab it with the right arm",
+    "Grab the smooth green plastic bottle from the table with the right arm",
+    "Grab the green bottle with indented base with the right arm in a head-up way",
+    "Find the plastic bottle on the table and raise it using the right arm.",
+    "Use the right arm to hold the bottle with white printed label from the table",
+    "Grab the green bottle with indented base head-up using the right arm from the table.",
+    "Hold the medium-sized green bottle upright after lifting with the right arm",
+    "Pick the bottle with rounded neck and keep it upright",
+    "Lift the medium green bottle with capped neck head-up from the table.",
+    "Lift the handheld green bottle ensuring it remains upright.",
+    "Using the right arm, pick the bottle with rounded neck upright",
+    "Grab the handheld green bottle from the table and hold it head-up.",
+    "Carefully grab the bottle with narrow top head-up",
+    "Lift the bottle with rounded neck head-up from the table",
+    "Grab the bottle with narrow top and lift it upward from the table.",
+    "Use the right arm to pick the smooth green plastic bottle up and keep it head-up.",
+    "Use the right arm to lift the bottle with narrow top head-up",
+    "Pick the bottle with rounded neck up with the right arm ensuring it stays head-up.",
+    "Pick the medium-sized green bottle head-up and hold it steady.",
+    "Pick up the medium-sized green bottle from the table carefully.",
+    "Take the medium green bottle from the table and keep upright",
+    "Grab the smooth green plastic bottle and lift it upright",
+    "Pick the medium green bottle upright from the table",
+    "Lift the medium green bottle from the table upright",
+    "Use the right arm to pick up the plastic bottle in the correct orientation",
+    "Grab the green bottle with indented base and lift it into a head-up position",
+    "Pick the smooth green plastic bottle upright from the table",
+    "Raise the bottle with ridges near base in a head-up position",
+    "Pick up the medium green bottle upright from the table",
+    "Lift the medium green bottle off the table and hold it upright."
+  ],
+  "unseen": [
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Pick up the green bottle carefully using the right arm",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Grab the green bottle on the table and raise it.",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Grab the green bottle from the table with the right arm",
+    "Pick up the green bottle from the table head-up.",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Pick up the green bottle with white label carefully using the right arm",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Pick up the green bottle using the correct arm",
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Lift the green bottle from the table using the right arm.",
+    "Use the right arm to grab the bottle the green bottle",
+    "Pick up the green bottle using the right arm in an upright position",
+    "Pick up the green bottle carefully using the right arm",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Grab the green bottle with white label from the table with the right arm",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Use the right arm to grab the bottle the green bottle",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Pick up the green plastic bottle with ridged bottom carefully using the right arm",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Pick up the green bottle with white label using the correct arm",
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Lift the green bottle from the table using the right arm.",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Pick up the green bottle carefully using the right arm",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Pick up the green bottle using the correct arm",
+    "Use the right arm to grab the green bottle head-up.",
+    "Grab the green bottle from the table with the right arm",
+    "Pick up the green bottle from the table head-up.",
+    "Lift the green bottle with white label from the table using the right arm.",
+    "Use the right arm to grab the bottle the green bottle",
+    "Pick up the green bottle using the right arm in an upright position",
+    "Pick up the green bottle carefully using the right arm",
+    "Use the right arm to grab the green bottle upright",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Use the right arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Grab the green bottle from the table with the right arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Lift the green bottle from the table using the right arm.",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green bottle using the right arm in an upright position",
+    "Pick up the green plastic bottle with ridged bottom carefully using the right arm",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Pick up the green bottle using the correct arm",
+    "Use the right arm to grab the green bottle with white label head-up.",
+    "Grab the green bottle from the table with the right arm",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Pick up the green bottle carefully using the right arm",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Pick up the green bottle with white label using the correct arm",
+    "Use the right arm to grab the green bottle head-up.",
+    "Grab the green bottle from the table with the right arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Lift the green bottle from the table using the right arm.",
+    "Use the right arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green plastic bottle with ridged bottom using the right arm in an upright position",
+    "Pick up the green bottle carefully using the right arm",
+    "Use the right arm to grab the green plastic bottle with ridged bottom upright",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Use the right arm to grab the green bottle head-up.",
+    "Grab the green bottle from the table with the right arm",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm.",
+    "Use the right arm to grab the bottle the green bottle with white label",
+    "Pick up the green bottle with white label using the right arm in an upright position",
+    "Pick up the green plastic bottle with ridged bottom carefully using the right arm",
+    "Use the right arm to grab the green bottle with white label upright",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Use the right arm to grab the green bottle head-up.",
+    "Grab the green plastic bottle with ridged bottom from the table with the right arm",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Lift the green plastic bottle with ridged bottom from the table using the right arm."
+  ]
+}

adjust_bottle/aloha-agilex_randomized_500/instructions/episode385.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Find the smooth bottle with red lid on the table and raise it using the left arm.",
+    "Lift the bottle the bottle with ridges on bottom up from the table",
+    "Lift the Coca-Cola bottle from the table upright",
+    "Grab the smooth bottle with red lid from the table with the left arm",
+    "Lift the bottle with white neck and red top upright carefully using the left arm",
+    "Grab the Coca-Cola bottle and lift it with the left arm",
+    "Pick up the Coca-Cola bottle from the table carefully.",
+    "Pick the medium dark brown bottle head-up using the right arm",
+    "Pick up the brown bottle with red label upright from the table",
+    "Position the smooth bottle with red lid head-up and lift it",
+    "Lift the narrow-necked bottle off the table and hold it upright.",
+    "Grab the narrow-necked bottle and lift it upward from the table.",
+    "Lift the hand-sized soda bottle from the table and secure upright",
+    "Use the left arm to grab and lift the narrow-necked bottle head-up.",
+    "Locate the long thin bottle and lift it upright with the left arm.",
+    "Raise the long thin bottle in a head-up position",
+    "Lift the Coca-Cola bottle using the left arm and hold upright",
+    "Use the left arm to pick up the red-capped bottle from the table.",
+    "Use the left arm to pick the red-capped bottle up and keep it head-up.",
+    "Pick the long thin bottle upright from the table",
+    "Grab the medium dark brown bottle and lift it upright",
+    "Grab the plastic drink bottle with the left arm in a head-up way",
+    "Lift the bottle with ridges on bottom head-up from the table.",
+    "Identify the smooth bottle with red lid and grab it with the left arm",
+    "Lift the bottle with ridges on bottom head-up from the table",
+    "Grab the smooth bottle with red lid from the table and hold it head-up.",
+    "Grab the long thin bottle and lift it into a head-up position",
+    "Secure the hand-sized soda bottle upright with the left arm",
+    "Pick up the bottle with white neck and red top from the table using the left arm.",
+    "Raise the long thin bottle from the table using the correct arm, the left arm.",
+    "Pick the narrow-necked bottle head-up and hold it steady.",
+    "Utilize the left arm to lift the hand-sized soda bottle while keeping it head-up.",
+    "Pick the hand-sized soda bottle and keep it upright",
+    "Using the left arm, pick the hand-sized soda bottle upright",
+    "Take the narrow-necked bottle from the table and keep upright",
+    "Lift the bottle with white neck and red top from the table without mentioning the arm.",
+    "Carefully grab the bottle with ridges on bottom head-up",
+    "Hold the bottle with ridges on bottom upright from the table",
+    "Use the correct arm to pick up the bottle with white neck and red top.",
+    "Pick the red-capped bottle up with the left arm ensuring it stays head-up.",
+    "Hold the brown bottle with red label upright after lifting with the left arm",
+    "Grab the brown bottle with red label head-up using the left arm from the table.",
+    "Lift the bottle the hand-sized soda bottle headup from the table",
+    "Lift the Coca-Cola bottle ensuring it remains upright.",
+    "Hold the red-capped bottle head-up after lifting it.",
+    "Use the left arm to pick up the dark drink bottle with logo in the correct orientation",
+    "Use the left arm to lift the dark drink bottle with logo head-up",
+    "Lift the bottle with ridges on bottom from the table with the left arm",
+    "Use the left arm to hold the dark drink bottle with logo from the table",
+    "Pick the narrow-necked bottle upright from the table",
+    "Find the bottle with white neck and red top on the table and raise it using the left arm.",
+    "Lift the bottle the long thin bottle up from the table",
+    "Lift the Coca-Cola bottle from the table upright",
+    "Grab the bottle with white neck and red top from the table with the left arm",
+    "Lift the brown bottle with red label upright carefully using the left arm",
+    "Grab the dark drink bottle with logo and lift it with the left arm",
+    "Pick up the brown bottle with red label from the table carefully.",
+    "Pick the plastic drink bottle head-up using the right arm",
+    "Pick up the long thin bottle upright from the table",
+    "Position the Coca-Cola bottle head-up and lift it",
+    "Lift the bottle with white neck and red top off the table and hold it upright.",
+    "Grab the long thin bottle and lift it upward from the table.",
+    "Lift the brown bottle with red label from the table and secure upright",
+    "Use the left arm to grab and lift the plastic drink bottle head-up.",
+    "Locate the medium dark brown bottle and lift it upright with the left arm.",
+    "Raise the smooth bottle with red lid in a head-up position",
+    "Lift the Coca-Cola bottle using the left arm and hold upright",
+    "Use the left arm to pick up the smooth bottle with red lid from the table.",
+    "Use the left arm to pick the red-capped bottle up and keep it head-up.",
+    "Pick the smooth bottle with red lid upright from the table",
+    "Grab the Coca-Cola bottle and lift it upright",
+    "Grab the bottle with white neck and red top with the left arm in a head-up way",
+    "Lift the smooth bottle with red lid head-up from the table.",
+    "Identify the plastic drink bottle and grab it with the left arm",
+    "Lift the smooth bottle with red lid head-up from the table",
+    "Grab the bottle with white neck and red top from the table and hold it head-up.",
+    "Grab the brown bottle with red label and lift it into a head-up position",
+    "Secure the bottle with white neck and red top upright with the left arm",
+    "Pick up the long thin bottle from the table using the left arm.",
+    "Raise the smooth bottle with red lid from the table using the correct arm, the left arm.",
+    "Pick the smooth bottle with red lid head-up and hold it steady.",
+    "Utilize the left arm to lift the dark drink bottle with logo while keeping it head-up.",
+    "Pick the plastic drink bottle and keep it upright",
+    "Using the left arm, pick the smooth bottle with red lid upright",
+    "Take the plastic drink bottle from the table and keep upright",
+    "Lift the smooth bottle with red lid from the table without mentioning the arm.",
+    "Carefully grab the plastic drink bottle head-up",
+    "Hold the dark drink bottle with logo upright from the table",
+    "Use the correct arm to pick up the bottle with white neck and red top.",
+    "Pick the long thin bottle up with the left arm ensuring it stays head-up.",
+    "Hold the bottle with white neck and red top upright after lifting with the left arm",
+    "Grab the smooth bottle with red lid head-up using the left arm from the table.",
+    "Lift the bottle the dark drink bottle with logo headup from the table",
+    "Lift the hand-sized soda bottle ensuring it remains upright.",
+    "Hold the red-capped bottle head-up after lifting it.",
+    "Use the left arm to pick up the brown bottle with red label in the correct orientation",
+    "Use the left arm to lift the plastic drink bottle head-up",
+    "Lift the bottle with white neck and red top from the table with the left arm",
+    "Use the left arm to hold the long thin bottle from the table",
+    "Pick the red-capped bottle upright from the table"
+  ],
+  "unseen": [
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Grab the brown bottle on the table and raise it.",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the brown bottle using the correct arm",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Use the left arm to grab the brown bottle upright",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the brown bottle using the correct arm",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Grab the brown bottle on the table and raise it.",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the brown bottle using the correct arm",
+    "Lift the brown bottle from the table using the left arm.",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the brown bottle using the correct arm",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Use the left arm to grab the brown bottle upright",
+    "Grab the brown bottle on the table and raise it.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Lift the brown bottle from the table using the left arm.",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Use the left arm to grab the brown bottle upright",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the brown bottle using the correct arm"
+  ]
+}

adjust_bottle/aloha-agilex_randomized_500/instructions/episode419.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Pick up the medium dark brown bottle from the table carefully.",
+    "Pick the smooth bottle with red lid upright from the table",
+    "Pick the brown bottle with red label head-up using the right arm",
+    "Lift the bottle with ridges on bottom head-up from the table",
+    "Identify the plastic drink bottle and grab it with the left arm",
+    "Lift the red-capped bottle from the table upright",
+    "Grab the bottle with white neck and red top from the table with the left arm",
+    "Use the left arm to pick up the red-capped bottle in the correct orientation",
+    "Hold the bottle with white neck and red top upright after lifting with the left arm",
+    "Pick the brown bottle with red label up with the left arm ensuring it stays head-up.",
+    "Raise the bottle with white neck and red top in a head-up position",
+    "Pick up the red-capped bottle from the table using the left arm.",
+    "Lift the bottle the hand-sized soda bottle up from the table",
+    "Grab the brown bottle with red label from the table and hold it head-up.",
+    "Lift the hand-sized soda bottle off the table and hold it upright.",
+    "Hold the narrow-necked bottle head-up after lifting it.",
+    "Use the left arm to pick up the Coca-Cola bottle from the table.",
+    "Grab the dark drink bottle with logo with the left arm in a head-up way",
+    "Find the dark drink bottle with logo on the table and raise it using the left arm.",
+    "Lift the bottle with white neck and red top ensuring it remains upright.",
+    "Pick up the medium dark brown bottle upright from the table",
+    "Lift the plastic drink bottle from the table with the left arm",
+    "Locate the dark drink bottle with logo and lift it upright with the left arm.",
+    "Use the left arm to pick the long thin bottle up and keep it head-up.",
+    "Lift the hand-sized soda bottle using the left arm and hold upright",
+    "Secure the smooth bottle with red lid upright with the left arm",
+    "Grab the long thin bottle and lift it upward from the table.",
+    "Grab the medium dark brown bottle head-up using the left arm from the table.",
+    "Carefully grab the red-capped bottle head-up",
+    "Pick the red-capped bottle and keep it upright",
+    "Lift the Coca-Cola bottle from the table without mentioning the arm.",
+    "Use the left arm to grab and lift the narrow-necked bottle head-up.",
+    "Hold the hand-sized soda bottle upright from the table",
+    "Lift the brown bottle with red label head-up from the table.",
+    "Lift the bottle with white neck and red top upright carefully using the left arm",
+    "Grab the smooth bottle with red lid and lift it with the left arm",
+    "Use the left arm to lift the plastic drink bottle head-up",
+    "Grab the long thin bottle and lift it upright",
+    "Take the bottle with white neck and red top from the table and keep upright",
+    "Use the left arm to hold the red-capped bottle from the table",
+    "Utilize the left arm to lift the dark drink bottle with logo while keeping it head-up.",
+    "Lift the bottle the bottle with white neck and red top headup from the table",
+    "Raise the bottle with white neck and red top from the table using the correct arm, the left arm.",
+    "Pick the long thin bottle head-up and hold it steady.",
+    "Lift the long thin bottle from the table and secure upright",
+    "Using the left arm, pick the Coca-Cola bottle upright",
+    "Pick the medium dark brown bottle upright from the table",
+    "Grab the narrow-necked bottle and lift it into a head-up position",
+    "Position the long thin bottle head-up and lift it",
+    "Use the correct arm to pick up the long thin bottle.",
+    "Pick up the dark drink bottle with logo from the table carefully.",
+    "Pick the bottle with white neck and red top upright from the table",
+    "Pick the bottle with white neck and red top head-up using the right arm",
+    "Lift the brown bottle with red label head-up from the table",
+    "Identify the bottle with white neck and red top and grab it with the left arm",
+    "Lift the bottle with ridges on bottom from the table upright",
+    "Grab the bottle with ridges on bottom from the table with the left arm",
+    "Use the left arm to pick up the medium dark brown bottle in the correct orientation",
+    "Hold the bottle with white neck and red top upright after lifting with the left arm",
+    "Pick the medium dark brown bottle up with the left arm ensuring it stays head-up.",
+    "Raise the medium dark brown bottle in a head-up position",
+    "Pick up the hand-sized soda bottle from the table using the left arm.",
+    "Lift the bottle the smooth bottle with red lid up from the table",
+    "Grab the smooth bottle with red lid from the table and hold it head-up.",
+    "Lift the medium dark brown bottle off the table and hold it upright.",
+    "Hold the bottle with white neck and red top head-up after lifting it.",
+    "Use the left arm to pick up the bottle with white neck and red top from the table.",
+    "Grab the red-capped bottle with the left arm in a head-up way",
+    "Find the Coca-Cola bottle on the table and raise it using the left arm.",
+    "Lift the dark drink bottle with logo ensuring it remains upright.",
+    "Pick up the narrow-necked bottle upright from the table",
+    "Lift the plastic drink bottle from the table with the left arm",
+    "Locate the plastic drink bottle and lift it upright with the left arm.",
+    "Use the left arm to pick the smooth bottle with red lid up and keep it head-up.",
+    "Lift the hand-sized soda bottle using the left arm and hold upright",
+    "Secure the bottle with white neck and red top upright with the left arm",
+    "Grab the bottle with white neck and red top and lift it upward from the table.",
+    "Grab the red-capped bottle head-up using the left arm from the table.",
+    "Carefully grab the brown bottle with red label head-up",
+    "Pick the plastic drink bottle and keep it upright",
+    "Lift the bottle with ridges on bottom from the table without mentioning the arm.",
+    "Use the left arm to grab and lift the smooth bottle with red lid head-up.",
+    "Hold the long thin bottle upright from the table",
+    "Lift the dark drink bottle with logo head-up from the table.",
+    "Lift the dark drink bottle with logo upright carefully using the left arm",
+    "Grab the narrow-necked bottle and lift it with the left arm",
+    "Use the left arm to lift the smooth bottle with red lid head-up",
+    "Grab the red-capped bottle and lift it upright",
+    "Take the smooth bottle with red lid from the table and keep upright",
+    "Use the left arm to hold the bottle with ridges on bottom from the table",
+    "Utilize the left arm to lift the narrow-necked bottle while keeping it head-up.",
+    "Lift the bottle the smooth bottle with red lid headup from the table",
+    "Raise the narrow-necked bottle from the table using the correct arm, the left arm.",
+    "Pick the long thin bottle head-up and hold it steady.",
+    "Lift the brown bottle with red label from the table and secure upright",
+    "Using the left arm, pick the plastic drink bottle upright",
+    "Pick the long thin bottle upright from the table",
+    "Grab the smooth bottle with red lid and lift it into a head-up position",
+    "Position the medium dark brown bottle head-up and lift it",
+    "Use the correct arm to pick up the plastic drink bottle."
+  ],
+  "unseen": [
+    "Lift the brown bottle from the table using the left arm.",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Pick up the brown bottle using the correct arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the brown bottle from the table head-up.",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the plastic soda bottle head-up."
+  ]
+}

adjust_bottle/aloha-agilex_randomized_500/instructions/episode425.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the bottle the long thin bottle headup from the table",
+    "Grab the plastic drink bottle from the table and hold it head-up.",
+    "Locate the smooth bottle with red lid and lift it upright with the right arm.",
+    "Hold the bottle with white neck and red top upright after lifting with the right arm",
+    "Hold the long thin bottle head-up after lifting it.",
+    "Pick up the bottle with white neck and red top from the table carefully.",
+    "Utilize the right arm to lift the smooth bottle with red lid while keeping it head-up.",
+    "Lift the bottle the bottle with ridges on bottom up from the table",
+    "Pick the long thin bottle up with the right arm ensuring it stays head-up.",
+    "Use the right arm to pick up the bottle with white neck and red top from the table.",
+    "Carefully grab the narrow-necked bottle head-up",
+    "Use the right arm to pick the smooth bottle with red lid up and keep it head-up.",
+    "Using the right arm, pick the long thin bottle upright",
+    "Lift the plastic drink bottle from the table upright",
+    "Use the correct arm to pick up the long thin bottle.",
+    "Use the right arm to pick up the smooth bottle with red lid in the correct orientation",
+    "Grab the smooth bottle with red lid and lift it upward from the table.",
+    "Pick the bottle with ridges on bottom and keep it upright",
+    "Pick the bottle with white neck and red top upright from the table",
+    "Pick the long thin bottle head-up and hold it steady.",
+    "Grab the smooth bottle with red lid head-up using the right arm from the table.",
+    "Pick up the smooth bottle with red lid from the table using the right arm.",
+    "Position the long thin bottle head-up and lift it",
+    "Grab the hand-sized soda bottle and lift it upright",
+    "Lift the Coca-Cola bottle off the table and hold it upright.",
+    "Grab the plastic drink bottle from the table with the right arm",
+    "Lift the hand-sized soda bottle ensuring it remains upright.",
+    "Identify the medium dark brown bottle and grab it with the right arm",
+    "Lift the long thin bottle head-up from the table.",
+    "Lift the red-capped bottle from the table with the right arm",
+    "Grab the long thin bottle with the right arm in a head-up way",
+    "Grab the brown bottle with red label and lift it into a head-up position",
+    "Pick the red-capped bottle head-up using the right arm",
+    "Raise the dark drink bottle with logo from the table using the correct arm, the right arm.",
+    "Lift the brown bottle with red label using the right arm and hold upright",
+    "Pick the red-capped bottle upright from the table",
+    "Use the right arm to lift the hand-sized soda bottle head-up",
+    "Lift the narrow-necked bottle upright carefully using the right arm",
+    "Lift the medium dark brown bottle from the table and secure upright",
+    "Raise the medium dark brown bottle in a head-up position",
+    "Take the medium dark brown bottle from the table and keep upright",
+    "Lift the dark drink bottle with logo head-up from the table",
+    "Find the Coca-Cola bottle on the table and raise it using the right arm.",
+    "Grab the Coca-Cola bottle and lift it with the right arm",
+    "Secure the dark drink bottle with logo upright with the right arm",
+    "Hold the plastic drink bottle upright from the table",
+    "Pick up the long thin bottle upright from the table",
+    "Lift the bottle with ridges on bottom from the table without mentioning the arm.",
+    "Use the right arm to hold the Coca-Cola bottle from the table",
+    "Use the right arm to grab and lift the bottle with white neck and red top head-up.",
+    "Lift the bottle the dark drink bottle with logo headup from the table",
+    "Grab the red-capped bottle from the table and hold it head-up.",
+    "Locate the bottle with ridges on bottom and lift it upright with the right arm.",
+    "Hold the narrow-necked bottle upright after lifting with the right arm",
+    "Hold the dark drink bottle with logo head-up after lifting it.",
+    "Pick up the dark drink bottle with logo from the table carefully.",
+    "Utilize the right arm to lift the smooth bottle with red lid while keeping it head-up.",
+    "Lift the bottle the dark drink bottle with logo up from the table",
+    "Pick the medium dark brown bottle up with the right arm ensuring it stays head-up.",
+    "Use the right arm to pick up the red-capped bottle from the table.",
+    "Carefully grab the smooth bottle with red lid head-up",
+    "Use the right arm to pick the medium dark brown bottle up and keep it head-up.",
+    "Using the right arm, pick the medium dark brown bottle upright",
+    "Lift the plastic drink bottle from the table upright",
+    "Use the correct arm to pick up the brown bottle with red label.",
+    "Use the right arm to pick up the medium dark brown bottle in the correct orientation",
+    "Grab the long thin bottle and lift it upward from the table.",
+    "Pick the bottle with ridges on bottom and keep it upright",
+    "Pick the hand-sized soda bottle upright from the table",
+    "Pick the medium dark brown bottle head-up and hold it steady.",
+    "Grab the plastic drink bottle head-up using the right arm from the table.",
+    "Pick up the dark drink bottle with logo from the table using the right arm.",
+    "Position the long thin bottle head-up and lift it",
+    "Grab the plastic drink bottle and lift it upright",
+    "Lift the narrow-necked bottle off the table and hold it upright.",
+    "Grab the dark drink bottle with logo from the table with the right arm",
+    "Lift the hand-sized soda bottle ensuring it remains upright.",
+    "Identify the hand-sized soda bottle and grab it with the right arm",
+    "Lift the hand-sized soda bottle head-up from the table.",
+    "Lift the brown bottle with red label from the table with the right arm",
+    "Grab the Coca-Cola bottle with the right arm in a head-up way",
+    "Grab the hand-sized soda bottle and lift it into a head-up position",
+    "Pick the Coca-Cola bottle head-up using the right arm",
+    "Raise the Coca-Cola bottle from the table using the correct arm, the right arm.",
+    "Lift the hand-sized soda bottle using the right arm and hold upright",
+    "Pick the medium dark brown bottle upright from the table",
+    "Use the right arm to lift the long thin bottle head-up",
+    "Lift the bottle with white neck and red top upright carefully using the right arm",
+    "Lift the red-capped bottle from the table and secure upright",
+    "Raise the hand-sized soda bottle in a head-up position",
+    "Take the bottle with white neck and red top from the table and keep upright",
+    "Lift the brown bottle with red label head-up from the table",
+    "Find the medium dark brown bottle on the table and raise it using the right arm.",
+    "Grab the red-capped bottle and lift it with the right arm",
+    "Secure the smooth bottle with red lid upright with the right arm",
+    "Hold the Coca-Cola bottle upright from the table",
+    "Pick up the narrow-necked bottle upright from the table",
+    "Lift the medium dark brown bottle from the table without mentioning the arm.",
+    "Use the right arm to hold the Coca-Cola bottle from the table",
+    "Use the right arm to grab and lift the red-capped bottle head-up."
+  ],
+  "unseen": [
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Pick up the brown bottle using the correct arm",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Use the right arm to grab the brown bottle upright",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the brown bottle carefully using the right arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Grab the brown bottle from the table with the right arm",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Lift the brown bottle from the table using the right arm.",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Grab the brown bottle from the table with the right arm",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Lift the brown bottle from the table using the right arm.",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the brown bottle carefully using the right arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Grab the brown bottle from the table with the right arm",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Pick up the brown bottle using the correct arm",
+    "Lift the brown bottle from the table using the right arm.",
+    "Use the right arm to grab the brown bottle upright",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the brown bottle carefully using the right arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Use the right arm to grab the brown bottle upright",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Pick up the brown bottle using the correct arm",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the brown bottle from the table with the right arm",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Lift the brown bottle from the table using the right arm.",
+    "Use the right arm to grab the brown bottle upright",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Pick up the brown bottle using the correct arm",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Use the right arm to grab the bottle the brown bottle"
+  ]
+}

adjust_bottle/aloha-agilex_randomized_500/instructions/episode439.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Identify the medium-sized green bottle and grab it with the left arm",
+    "Lift the medium green bottle from the table and secure upright",
+    "Lift the bottle with ridges near base off the table and hold it upright.",
+    "Lift the bottle with ridges near base upright carefully using the left arm",
+    "Lift the medium green bottle with capped neck ensuring it remains upright.",
+    "Pick the smooth green bottle up with the left arm ensuring it stays head-up.",
+    "Use the left arm to pick the medium green bottle up and keep it head-up.",
+    "Lift the bottle the smooth green bottle headup from the table",
+    "Use the correct arm to pick up the smooth green plastic bottle.",
+    "Lift the plastic bottle head-up from the table.",
+    "Use the left arm to lift the plastic bottle head-up",
+    "Pick the medium green bottle head-up and hold it steady.",
+    "Raise the smooth green bottle in a head-up position",
+    "Pick up the smooth green bottle upright from the table",
+    "Pick the bottle with narrow top upright from the table",
+    "Pick the medium green bottle with capped neck and keep it upright",
+    "Lift the green bottle with indented base from the table with the left arm",
+    "Grab the bottle with rounded neck from the table and hold it head-up.",
+    "Grab the bottle with narrow top with the left arm in a head-up way",
+    "Utilize the left arm to lift the bottle with narrow top while keeping it head-up.",
+    "Grab the green bottle with indented base head-up using the left arm from the table.",
+    "Grab the bottle with white printed label and lift it with the left arm",
+    "Grab the medium green bottle with capped neck and lift it upright",
+    "Locate the plastic bottle and lift it upright with the left arm.",
+    "Lift the green bottle with indented base head-up from the table",
+    "Carefully grab the bottle with narrow top head-up",
+    "Grab the smooth green plastic bottle and lift it into a head-up position",
+    "Secure the bottle with rounded neck upright with the left arm",
+    "Use the left arm to grab and lift the medium green bottle with capped neck head-up.",
+    "Pick up the medium-sized green bottle from the table using the left arm.",
+    "Pick up the handheld green bottle from the table carefully.",
+    "Using the left arm, pick the medium-sized green bottle upright",
+    "Use the left arm to pick up the smooth green plastic bottle in the correct orientation",
+    "Use the left arm to hold the medium-sized green bottle from the table",
+    "Hold the handheld green bottle head-up after lifting it.",
+    "Grab the bottle with rounded neck and lift it upward from the table.",
+    "Lift the green bottle with indented base from the table without mentioning the arm.",
+    "Raise the smooth green bottle from the table using the correct arm, the left arm.",
+    "Grab the smooth green bottle from the table with the left arm",
+    "Position the green bottle with indented base head-up and lift it",
+    "Hold the bottle with white printed label upright from the table",
+    "Use the left arm to pick up the green bottle with indented base from the table.",
+    "Lift the medium green bottle with capped neck using the left arm and hold upright",
+    "Lift the bottle the smooth green bottle up from the table",
+    "Pick the medium green bottle head-up using the right arm",
+    "Find the medium-sized green bottle on the table and raise it using the left arm.",
+    "Pick the bottle with white printed label upright from the table",
+    "Hold the green bottle with indented base upright after lifting with the left arm",
+    "Take the medium-sized green bottle from the table and keep upright",
+    "Lift the medium-sized green bottle from the table upright",
+    "Identify the green bottle with indented base and grab it with the left arm",
+    "Lift the green bottle with indented base from the table and secure upright",
+    "Lift the medium-sized green bottle off the table and hold it upright.",
+    "Lift the smooth green bottle upright carefully using the left arm",
+    "Lift the medium-sized green bottle ensuring it remains upright.",
+    "Pick the medium green bottle with capped neck up with the left arm ensuring it stays head-up.",
+    "Use the left arm to pick the medium green bottle up and keep it head-up.",
+    "Lift the bottle the bottle with narrow top headup from the table",
+    "Use the correct arm to pick up the medium green bottle with capped neck.",
+    "Lift the medium green bottle head-up from the table.",
+    "Use the left arm to lift the bottle with rounded neck head-up",
+    "Pick the medium-sized green bottle head-up and hold it steady.",
+    "Raise the medium-sized green bottle in a head-up position",
+    "Pick up the medium green bottle with capped neck upright from the table",
+    "Pick the bottle with white printed label upright from the table",
+    "Pick the handheld green bottle and keep it upright",
+    "Lift the smooth green plastic bottle from the table with the left arm",
+    "Grab the bottle with ridges near base from the table and hold it head-up.",
+    "Grab the green bottle with indented base with the left arm in a head-up way",
+    "Utilize the left arm to lift the medium-sized green bottle while keeping it head-up.",
+    "Grab the handheld green bottle head-up using the left arm from the table.",
+    "Grab the plastic bottle and lift it with the left arm",
+    "Grab the bottle with ridges near base and lift it upright",
+    "Locate the bottle with white printed label and lift it upright with the left arm.",
+    "Lift the medium green bottle head-up from the table",
+    "Carefully grab the medium green bottle with capped neck head-up",
+    "Grab the plastic bottle and lift it into a head-up position",
+    "Secure the smooth green bottle upright with the left arm",
+    "Use the left arm to grab and lift the bottle with rounded neck head-up.",
+    "Pick up the medium green bottle with capped neck from the table using the left arm.",
+    "Pick up the handheld green bottle from the table carefully.",
+    "Using the left arm, pick the plastic bottle upright",
+    "Use the left arm to pick up the bottle with narrow top in the correct orientation",
+    "Use the left arm to hold the medium-sized green bottle from the table",
+    "Hold the smooth green plastic bottle head-up after lifting it.",
+    "Grab the bottle with ridges near base and lift it upward from the table.",
+    "Lift the green bottle with indented base from the table without mentioning the arm.",
+    "Raise the smooth green plastic bottle from the table using the correct arm, the left arm.",
+    "Grab the bottle with white printed label from the table with the left arm",
+    "Position the green bottle with indented base head-up and lift it",
+    "Hold the medium green bottle with capped neck upright from the table",
+    "Use the left arm to pick up the plastic bottle from the table.",
+    "Lift the smooth green plastic bottle using the left arm and hold upright",
+    "Lift the bottle the bottle with rounded neck up from the table",
+    "Pick the smooth green bottle head-up using the right arm",
+    "Find the green bottle with indented base on the table and raise it using the left arm.",
+    "Pick the medium green bottle upright from the table",
+    "Hold the green bottle with indented base upright after lifting with the left arm",
+    "Take the bottle with rounded neck from the table and keep upright",
+    "Lift the smooth green plastic bottle from the table upright"
+  ],
+  "unseen": [
+    "Use the left arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Use the left arm to grab the green bottle upright",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Grab the green bottle with white label from the table with the left arm",
+    "Pick up the green bottle carefully using the left arm",
+    "Use the left arm to grab the bottle the green bottle",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Lift the green plastic bottle with ridged bottom from the table using the left arm.",
+    "Grab the green bottle on the table and raise it.",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Use the left arm to grab the green bottle upright",
+    "Grab the green bottle from the table with the left arm",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Use the left arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green bottle from the table head-up.",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green plastic bottle with ridged bottom using the left arm in an upright position",
+    "Lift the green bottle from the table using the left arm.",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Use the left arm to grab the green bottle head-up.",
+    "Use the left arm to grab the green bottle upright",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Use the left arm to grab the bottle the green bottle",
+    "Pick up the green bottle with white label from the table head-up.",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green plastic bottle with ridged bottom using the left arm in an upright position",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Grab the green bottle on the table and raise it.",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Grab the green bottle from the table with the left arm",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Use the left arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green bottle from the table head-up.",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green plastic bottle with ridged bottom using the left arm in an upright position",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom upright",
+    "Grab the green bottle from the table with the left arm",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Use the left arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green bottle from the table head-up.",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green plastic bottle with ridged bottom using the left arm in an upright position",
+    "Lift the green bottle from the table using the left arm.",
+    "Grab the green bottle on the table and raise it.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Use the left arm to grab the bottle the green bottle with white label",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Pick up the green bottle using the correct arm",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Grab the green bottle on the table and raise it.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom head-up.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom upright",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Pick up the green plastic bottle with ridged bottom carefully using the left arm",
+    "Use the left arm to grab the bottle the green bottle",
+    "Pick up the green plastic bottle with ridged bottom from the table head-up.",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green bottle using the left arm in an upright position",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Grab the green plastic bottle with ridged bottom on the table and raise it.",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Use the left arm to grab the green plastic bottle with ridged bottom upright",
+    "Grab the green plastic bottle with ridged bottom from the table with the left arm",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Use the left arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green bottle from the table head-up.",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Lift the green bottle with white label from the table using the left arm.",
+    "Grab the green bottle with white label on the table and raise it.",
+    "Use the left arm to grab the green bottle with white label head-up.",
+    "Use the left arm to grab the green bottle with white label upright",
+    "Grab the green bottle from the table with the left arm",
+    "Pick up the green bottle with white label carefully using the left arm",
+    "Use the left arm to grab the bottle the green plastic bottle with ridged bottom",
+    "Pick up the green bottle from the table head-up.",
+    "Pick up the green plastic bottle with ridged bottom using the correct arm",
+    "Pick up the green bottle with white label using the left arm in an upright position",
+    "Lift the green bottle from the table using the left arm.",
+    "Grab the green bottle with white label on the table and raise it."
+  ]
+}

adjust_bottle/aloha-agilex_randomized_500/instructions/episode478.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the medium dark brown bottle from the table with the left arm",
+    "Lift the bottle the hand-sized soda bottle up from the table",
+    "Use the left arm to grab and lift the plastic drink bottle head-up.",
+    "Pick the dark drink bottle with logo up with the left arm ensuring it stays head-up.",
+    "Pick the Coca-Cola bottle upright from the table",
+    "Pick up the dark drink bottle with logo from the table carefully.",
+    "Pick the bottle with white neck and red top and keep it upright",
+    "Use the left arm to hold the medium dark brown bottle from the table",
+    "Grab the dark drink bottle with logo and lift it upright",
+    "Grab the plastic drink bottle and lift it into a head-up position",
+    "Pick the red-capped bottle upright from the table",
+    "Hold the long thin bottle upright after lifting with the left arm",
+    "Lift the plastic drink bottle from the table without mentioning the arm.",
+    "Grab the plastic drink bottle from the table with the left arm",
+    "Grab the Coca-Cola bottle head-up using the left arm from the table.",
+    "Pick up the bottle with white neck and red top upright from the table",
+    "Lift the red-capped bottle off the table and hold it upright.",
+    "Use the left arm to pick the brown bottle with red label up and keep it head-up.",
+    "Raise the narrow-necked bottle in a head-up position",
+    "Carefully grab the red-capped bottle head-up",
+    "Use the correct arm to pick up the bottle with ridges on bottom.",
+    "Find the brown bottle with red label on the table and raise it using the left arm.",
+    "Use the left arm to pick up the plastic drink bottle from the table.",
+    "Using the left arm, pick the dark drink bottle with logo upright",
+    "Pick up the Coca-Cola bottle from the table using the left arm.",
+    "Use the left arm to lift the bottle with ridges on bottom head-up",
+    "Grab the bottle with ridges on bottom with the left arm in a head-up way",
+    "Grab the hand-sized soda bottle and lift it upward from the table.",
+    "Grab the smooth bottle with red lid and lift it with the left arm",
+    "Locate the hand-sized soda bottle and lift it upright with the left arm.",
+    "Use the left arm to pick up the hand-sized soda bottle in the correct orientation",
+    "Raise the red-capped bottle from the table using the correct arm, the left arm.",
+    "Lift the smooth bottle with red lid from the table upright",
+    "Secure the brown bottle with red label upright with the left arm",
+    "Grab the bottle with ridges on bottom from the table and hold it head-up.",
+    "Lift the bottle with white neck and red top using the left arm and hold upright",
+    "Lift the smooth bottle with red lid head-up from the table",
+    "Utilize the left arm to lift the bottle with white neck and red top while keeping it head-up.",
+    "Position the plastic drink bottle head-up and lift it",
+    "Pick the bottle with white neck and red top head-up using the right arm",
+    "Identify the bottle with white neck and red top and grab it with the left arm",
+    "Pick the long thin bottle head-up and hold it steady.",
+    "Hold the red-capped bottle upright from the table",
+    "Lift the Coca-Cola bottle from the table and secure upright",
+    "Hold the dark drink bottle with logo head-up after lifting it.",
+    "Lift the bottle the red-capped bottle headup from the table",
+    "Take the medium dark brown bottle from the table and keep upright",
+    "Lift the long thin bottle head-up from the table.",
+    "Lift the brown bottle with red label upright carefully using the left arm",
+    "Lift the bottle with white neck and red top ensuring it remains upright.",
+    "Lift the dark drink bottle with logo from the table with the left arm",
+    "Lift the bottle the red-capped bottle up from the table",
+    "Use the left arm to grab and lift the medium dark brown bottle head-up.",
+    "Pick the long thin bottle up with the left arm ensuring it stays head-up.",
+    "Pick the long thin bottle upright from the table",
+    "Pick up the plastic drink bottle from the table carefully.",
+    "Pick the long thin bottle and keep it upright",
+    "Use the left arm to hold the bottle with white neck and red top from the table",
+    "Grab the Coca-Cola bottle and lift it upright",
+    "Grab the brown bottle with red label and lift it into a head-up position",
+    "Pick the long thin bottle upright from the table",
+    "Hold the narrow-necked bottle upright after lifting with the left arm",
+    "Lift the medium dark brown bottle from the table without mentioning the arm.",
+    "Grab the Coca-Cola bottle from the table with the left arm",
+    "Grab the bottle with white neck and red top head-up using the left arm from the table.",
+    "Pick up the long thin bottle upright from the table",
+    "Lift the Coca-Cola bottle off the table and hold it upright.",
+    "Use the left arm to pick the bottle with white neck and red top up and keep it head-up.",
+    "Raise the medium dark brown bottle in a head-up position",
+    "Carefully grab the bottle with ridges on bottom head-up",
+    "Use the correct arm to pick up the bottle with ridges on bottom.",
+    "Find the plastic drink bottle on the table and raise it using the left arm.",
+    "Use the left arm to pick up the long thin bottle from the table.",
+    "Using the left arm, pick the dark drink bottle with logo upright",
+    "Pick up the Coca-Cola bottle from the table using the left arm.",
+    "Use the left arm to lift the long thin bottle head-up",
+    "Grab the hand-sized soda bottle with the left arm in a head-up way",
+    "Grab the hand-sized soda bottle and lift it upward from the table.",
+    "Grab the bottle with ridges on bottom and lift it with the left arm",
+    "Locate the Coca-Cola bottle and lift it upright with the left arm.",
+    "Use the left arm to pick up the hand-sized soda bottle in the correct orientation",
+    "Raise the red-capped bottle from the table using the correct arm, the left arm.",
+    "Lift the plastic drink bottle from the table upright",
+    "Secure the narrow-necked bottle upright with the left arm",
+    "Grab the plastic drink bottle from the table and hold it head-up.",
+    "Lift the brown bottle with red label using the left arm and hold upright",
+    "Lift the smooth bottle with red lid head-up from the table",
+    "Utilize the left arm to lift the dark drink bottle with logo while keeping it head-up.",
+    "Position the brown bottle with red label head-up and lift it",
+    "Pick the hand-sized soda bottle head-up using the right arm",
+    "Identify the dark drink bottle with logo and grab it with the left arm",
+    "Pick the long thin bottle head-up and hold it steady.",
+    "Hold the red-capped bottle upright from the table",
+    "Lift the smooth bottle with red lid from the table and secure upright",
+    "Hold the brown bottle with red label head-up after lifting it.",
+    "Lift the bottle the hand-sized soda bottle headup from the table",
+    "Take the red-capped bottle from the table and keep upright",
+    "Lift the dark drink bottle with logo head-up from the table.",
+    "Lift the smooth bottle with red lid upright carefully using the left arm",
+    "Lift the Coca-Cola bottle ensuring it remains upright."
+  ],
+  "unseen": [
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Grab the brown bottle from the table with the left arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the brown bottle using the correct arm",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the brown bottle from the table with the left arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the brown bottle from the table with the left arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Grab the brown bottle from the table with the left arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the brown bottle carefully using the left arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Grab the brown bottle on the table and raise it.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the brown bottle using the correct arm",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Grab the brown bottle from the table with the left arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Grab the brown bottle from the table with the left arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Pick up the brown bottle using the correct arm",
+    "Use the left arm to grab the bottle the bottle with red screw cap"
+  ]
+}

adjust_bottle/aloha-agilex_randomized_500/instructions/episode63.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the bottle the Coca-Cola bottle up from the table",
+    "Raise the smooth bottle with red lid from the table using the correct arm, the left arm.",
+    "Lift the medium dark brown bottle using the left arm and hold upright",
+    "Grab the medium dark brown bottle from the table and hold it head-up.",
+    "Lift the hand-sized soda bottle off the table and hold it upright.",
+    "Use the left arm to grab and lift the narrow-necked bottle head-up.",
+    "Use the left arm to hold the medium dark brown bottle from the table",
+    "Lift the medium dark brown bottle from the table upright",
+    "Hold the medium dark brown bottle upright from the table",
+    "Grab the smooth bottle with red lid and lift it with the left arm",
+    "Position the hand-sized soda bottle head-up and lift it",
+    "Lift the bottle with ridges on bottom head-up from the table.",
+    "Grab the long thin bottle from the table with the left arm",
+    "Lift the medium dark brown bottle head-up from the table",
+    "Pick up the smooth bottle with red lid from the table using the left arm.",
+    "Lift the smooth bottle with red lid upright carefully using the left arm",
+    "Pick the hand-sized soda bottle head-up and hold it steady.",
+    "Locate the medium dark brown bottle and lift it upright with the left arm.",
+    "Use the left arm to pick up the Coca-Cola bottle in the correct orientation",
+    "Pick the red-capped bottle and keep it upright",
+    "Take the hand-sized soda bottle from the table and keep upright",
+    "Pick the brown bottle with red label upright from the table",
+    "Hold the bottle with white neck and red top upright after lifting with the left arm",
+    "Use the correct arm to pick up the hand-sized soda bottle.",
+    "Carefully grab the smooth bottle with red lid head-up",
+    "Lift the red-capped bottle from the table and secure upright",
+    "Pick the long thin bottle head-up using the right arm",
+    "Grab the brown bottle with red label with the left arm in a head-up way",
+    "Grab the narrow-necked bottle and lift it upright",
+    "Raise the smooth bottle with red lid in a head-up position",
+    "Identify the narrow-necked bottle and grab it with the left arm",
+    "Secure the red-capped bottle upright with the left arm",
+    "Use the left arm to lift the narrow-necked bottle head-up",
+    "Pick the hand-sized soda bottle up with the left arm ensuring it stays head-up.",
+    "Lift the plastic drink bottle from the table with the left arm",
+    "Using the left arm, pick the Coca-Cola bottle upright",
+    "Hold the red-capped bottle head-up after lifting it.",
+    "Lift the dark drink bottle with logo ensuring it remains upright.",
+    "Lift the bottle the long thin bottle headup from the table",
+    "Grab the medium dark brown bottle and lift it into a head-up position",
+    "Pick the bottle with ridges on bottom upright from the table",
+    "Utilize the left arm to lift the dark drink bottle with logo while keeping it head-up.",
+    "Pick up the Coca-Cola bottle from the table carefully.",
+    "Grab the narrow-necked bottle and lift it upward from the table.",
+    "Grab the plastic drink bottle head-up using the left arm from the table.",
+    "Find the Coca-Cola bottle on the table and raise it using the left arm.",
+    "Pick up the Coca-Cola bottle upright from the table",
+    "Use the left arm to pick the plastic drink bottle up and keep it head-up.",
+    "Lift the narrow-necked bottle from the table without mentioning the arm.",
+    "Use the left arm to pick up the brown bottle with red label from the table.",
+    "Lift the bottle the hand-sized soda bottle up from the table",
+    "Raise the bottle with ridges on bottom from the table using the correct arm, the left arm.",
+    "Lift the long thin bottle using the left arm and hold upright",
+    "Grab the smooth bottle with red lid from the table and hold it head-up.",
+    "Lift the bottle with white neck and red top off the table and hold it upright.",
+    "Use the left arm to grab and lift the smooth bottle with red lid head-up.",
+    "Use the left arm to hold the Coca-Cola bottle from the table",
+    "Lift the medium dark brown bottle from the table upright",
+    "Hold the red-capped bottle upright from the table",
+    "Grab the hand-sized soda bottle and lift it with the left arm",
+    "Position the red-capped bottle head-up and lift it",
+    "Lift the dark drink bottle with logo head-up from the table.",
+    "Grab the bottle with ridges on bottom from the table with the left arm",
+    "Lift the smooth bottle with red lid head-up from the table",
+    "Pick up the narrow-necked bottle from the table using the left arm.",
+    "Lift the hand-sized soda bottle upright carefully using the left arm",
+    "Pick the narrow-necked bottle head-up and hold it steady.",
+    "Locate the red-capped bottle and lift it upright with the left arm.",
+    "Use the left arm to pick up the smooth bottle with red lid in the correct orientation",
+    "Pick the bottle with white neck and red top and keep it upright",
+    "Take the long thin bottle from the table and keep upright",
+    "Pick the narrow-necked bottle upright from the table",
+    "Hold the brown bottle with red label upright after lifting with the left arm",
+    "Use the correct arm to pick up the narrow-necked bottle.",
+    "Carefully grab the brown bottle with red label head-up",
+    "Lift the hand-sized soda bottle from the table and secure upright",
+    "Pick the hand-sized soda bottle head-up using the right arm",
+    "Grab the red-capped bottle with the left arm in a head-up way",
+    "Grab the medium dark brown bottle and lift it upright",
+    "Raise the brown bottle with red label in a head-up position",
+    "Identify the bottle with ridges on bottom and grab it with the left arm",
+    "Secure the long thin bottle upright with the left arm",
+    "Use the left arm to lift the brown bottle with red label head-up",
+    "Pick the red-capped bottle up with the left arm ensuring it stays head-up.",
+    "Lift the smooth bottle with red lid from the table with the left arm",
+    "Using the left arm, pick the bottle with white neck and red top upright",
+    "Hold the hand-sized soda bottle head-up after lifting it.",
+    "Lift the plastic drink bottle ensuring it remains upright.",
+    "Lift the bottle the dark drink bottle with logo headup from the table",
+    "Grab the long thin bottle and lift it into a head-up position",
+    "Pick the long thin bottle upright from the table",
+    "Utilize the left arm to lift the dark drink bottle with logo while keeping it head-up.",
+    "Pick up the narrow-necked bottle from the table carefully.",
+    "Grab the smooth bottle with red lid and lift it upward from the table.",
+    "Grab the red-capped bottle head-up using the left arm from the table.",
+    "Find the smooth bottle with red lid on the table and raise it using the left arm.",
+    "Pick up the hand-sized soda bottle upright from the table",
+    "Use the left arm to pick the Coca-Cola bottle up and keep it head-up.",
+    "Lift the red-capped bottle from the table without mentioning the arm.",
+    "Use the left arm to pick up the hand-sized soda bottle from the table."
+  ],
+  "unseen": [
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the brown bottle carefully using the left arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the plastic soda bottle upright",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Grab the brown bottle from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Use the left arm to grab the bottle with red screw cap head-up.",
+    "Lift the brown bottle from the table using the left arm.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the bottle with red screw cap carefully using the left arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the brown bottle using the left arm in an upright position",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Lift the plastic soda bottle from the table using the left arm.",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the brown bottle upright",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Pick up the plastic soda bottle using the left arm in an upright position",
+    "Use the left arm to grab the plastic soda bottle head-up.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Grab the plastic soda bottle from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Pick up the brown bottle from the table head-up.",
+    "Use the left arm to grab the bottle the bottle with red screw cap",
+    "Pick up the plastic soda bottle carefully using the left arm",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the left arm to grab the bottle the brown bottle",
+    "Pick up the brown bottle carefully using the left arm",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle using the correct arm",
+    "Pick up the bottle with red screw cap using the left arm in an upright position",
+    "Use the left arm to grab the brown bottle head-up.",
+    "Lift the bottle with red screw cap from the table using the left arm.",
+    "Grab the bottle with red screw cap from the table with the left arm",
+    "Use the left arm to grab the bottle with red screw cap upright",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Use the left arm to grab the bottle the plastic soda bottle",
+    "Pick up the brown bottle carefully using the left arm",
+    "Grab the brown bottle on the table and raise it."
+  ]
+}

adjust_bottle/aloha-agilex_randomized_500/instructions/episode71.json

@@ -0,0 +1,206 @@
+{
+  "seen": [
+    "Lift the Coca-Cola bottle off the table and hold it upright.",
+    "Pick the long thin bottle upright from the table",
+    "Lift the bottle the brown bottle with red label headup from the table",
+    "Lift the bottle the hand-sized soda bottle up from the table",
+    "Grab the red-capped bottle and lift it upright",
+    "Grab the smooth bottle with red lid and lift it into a head-up position",
+    "Use the right arm to hold the narrow-necked bottle from the table",
+    "Lift the medium dark brown bottle using the right arm and hold upright",
+    "Identify the plastic drink bottle and grab it with the right arm",
+    "Lift the smooth bottle with red lid upright carefully using the right arm",
+    "Use the right arm to pick the long thin bottle up and keep it head-up.",
+    "Grab the plastic drink bottle head-up using the right arm from the table.",
+    "Use the right arm to pick up the long thin bottle in the correct orientation",
+    "Use the correct arm to pick up the smooth bottle with red lid.",
+    "Pick the bottle with ridges on bottom upright from the table",
+    "Grab the smooth bottle with red lid from the table and hold it head-up.",
+    "Raise the medium dark brown bottle in a head-up position",
+    "Use the right arm to grab and lift the brown bottle with red label head-up.",
+    "Take the plastic drink bottle from the table and keep upright",
+    "Pick the long thin bottle head-up using the right arm",
+    "Locate the medium dark brown bottle and lift it upright with the right arm.",
+    "Utilize the right arm to lift the bottle with white neck and red top while keeping it head-up.",
+    "Pick up the medium dark brown bottle from the table using the right arm.",
+    "Hold the plastic drink bottle head-up after lifting it.",
+    "Secure the bottle with ridges on bottom upright with the right arm",
+    "Lift the brown bottle with red label head-up from the table",
+    "Pick the plastic drink bottle up with the right arm ensuring it stays head-up.",
+    "Pick the medium dark brown bottle and keep it upright",
+    "Pick up the bottle with white neck and red top from the table carefully.",
+    "Grab the bottle with ridges on bottom and lift it with the right arm",
+    "Grab the long thin bottle and lift it upward from the table.",
+    "Carefully grab the hand-sized soda bottle head-up",
+    "Lift the smooth bottle with red lid from the table without mentioning the arm.",
+    "Raise the smooth bottle with red lid from the table using the correct arm, the right arm.",
+    "Grab the bottle with white neck and red top from the table with the right arm",
+    "Lift the plastic drink bottle from the table and secure upright",
+    "Lift the brown bottle with red label from the table upright",
+    "Lift the red-capped bottle ensuring it remains upright.",
+    "Grab the smooth bottle with red lid with the right arm in a head-up way",
+    "Lift the narrow-necked bottle head-up from the table.",
+    "Hold the red-capped bottle upright after lifting with the right arm",
+    "Use the right arm to lift the Coca-Cola bottle head-up",
+    "Pick up the medium dark brown bottle upright from the table",
+    "Using the right arm, pick the smooth bottle with red lid upright",
+    "Pick the bottle with white neck and red top head-up and hold it steady.",
+    "Use the right arm to pick up the narrow-necked bottle from the table.",
+    "Hold the Coca-Cola bottle upright from the table",
+    "Find the long thin bottle on the table and raise it using the right arm.",
+    "Position the dark drink bottle with logo head-up and lift it",
+    "Lift the long thin bottle from the table with the right arm",
+    "Lift the dark drink bottle with logo off the table and hold it upright.",
+    "Pick the narrow-necked bottle upright from the table",
+    "Lift the bottle the smooth bottle with red lid headup from the table",
+    "Lift the bottle the medium dark brown bottle up from the table",
+    "Grab the Coca-Cola bottle and lift it upright",
+    "Grab the medium dark brown bottle and lift it into a head-up position",
+    "Use the right arm to hold the bottle with ridges on bottom from the table",
+    "Lift the brown bottle with red label using the right arm and hold upright",
+    "Identify the bottle with white neck and red top and grab it with the right arm",
+    "Lift the bottle with ridges on bottom upright carefully using the right arm",
+    "Use the right arm to pick the bottle with ridges on bottom up and keep it head-up.",
+    "Grab the Coca-Cola bottle head-up using the right arm from the table.",
+    "Use the right arm to pick up the bottle with white neck and red top in the correct orientation",
+    "Use the correct arm to pick up the smooth bottle with red lid.",
+    "Pick the Coca-Cola bottle upright from the table",
+    "Grab the plastic drink bottle from the table and hold it head-up.",
+    "Raise the bottle with ridges on bottom in a head-up position",
+    "Use the right arm to grab and lift the hand-sized soda bottle head-up.",
+    "Take the dark drink bottle with logo from the table and keep upright",
+    "Pick the dark drink bottle with logo head-up using the right arm",
+    "Locate the bottle with ridges on bottom and lift it upright with the right arm.",
+    "Utilize the right arm to lift the plastic drink bottle while keeping it head-up.",
+    "Pick up the plastic drink bottle from the table using the right arm.",
+    "Hold the bottle with white neck and red top head-up after lifting it.",
+    "Secure the brown bottle with red label upright with the right arm",
+    "Lift the narrow-necked bottle head-up from the table",
+    "Pick the bottle with ridges on bottom up with the right arm ensuring it stays head-up.",
+    "Pick the smooth bottle with red lid and keep it upright",
+    "Pick up the Coca-Cola bottle from the table carefully.",
+    "Grab the dark drink bottle with logo and lift it with the right arm",
+    "Grab the brown bottle with red label and lift it upward from the table.",
+    "Carefully grab the narrow-necked bottle head-up",
+    "Lift the dark drink bottle with logo from the table without mentioning the arm.",
+    "Raise the brown bottle with red label from the table using the correct arm, the right arm.",
+    "Grab the Coca-Cola bottle from the table with the right arm",
+    "Lift the medium dark brown bottle from the table and secure upright",
+    "Lift the Coca-Cola bottle from the table upright",
+    "Lift the bottle with white neck and red top ensuring it remains upright.",
+    "Grab the smooth bottle with red lid with the right arm in a head-up way",
+    "Lift the bottle with white neck and red top head-up from the table.",
+    "Hold the dark drink bottle with logo upright after lifting with the right arm",
+    "Use the right arm to lift the hand-sized soda bottle head-up",
+    "Pick up the bottle with ridges on bottom upright from the table",
+    "Using the right arm, pick the smooth bottle with red lid upright",
+    "Pick the dark drink bottle with logo head-up and hold it steady.",
+    "Use the right arm to pick up the bottle with white neck and red top from the table.",
+    "Hold the red-capped bottle upright from the table",
+    "Find the long thin bottle on the table and raise it using the right arm.",
+    "Position the long thin bottle head-up and lift it",
+    "Lift the red-capped bottle from the table with the right arm"
+  ],
+  "unseen": [
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the brown bottle using the correct arm",
+    "Use the right arm to grab the brown bottle upright",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the brown bottle using the correct arm",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle using the correct arm",
+    "Use the right arm to grab the plastic soda bottle upright",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Pick up the brown bottle carefully using the right arm",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Pick up the brown bottle carefully using the right arm",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Lift the brown bottle from the table using the right arm.",
+    "Grab the brown bottle on the table and raise it.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Use the right arm to grab the bottle the brown bottle",
+    "Pick up the plastic soda bottle using the right arm in an upright position",
+    "Pick up the brown bottle carefully using the right arm",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the bottle with red screw cap using the correct arm",
+    "Use the right arm to grab the brown bottle upright",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Grab the bottle with red screw cap from the table with the right arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the brown bottle using the correct arm",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Use the right arm to grab the plastic soda bottle head-up.",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the brown bottle using the right arm in an upright position",
+    "Pick up the bottle with red screw cap carefully using the right arm",
+    "Grab the plastic soda bottle from the table with the right arm",
+    "Pick up the plastic soda bottle from the table head-up.",
+    "Lift the bottle with red screw cap from the table using the right arm.",
+    "Grab the plastic soda bottle on the table and raise it.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the right arm to grab the brown bottle upright",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Pick up the brown bottle carefully using the right arm",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the brown bottle from the table head-up.",
+    "Lift the plastic soda bottle from the table using the right arm.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the right arm to grab the bottle with red screw cap upright",
+    "Use the right arm to grab the brown bottle head-up.",
+    "Use the right arm to grab the bottle the plastic soda bottle",
+    "Pick up the bottle with red screw cap using the right arm in an upright position",
+    "Pick up the plastic soda bottle carefully using the right arm",
+    "Grab the brown bottle from the table with the right arm",
+    "Pick up the bottle with red screw cap from the table head-up.",
+    "Lift the brown bottle from the table using the right arm.",
+    "Grab the bottle with red screw cap on the table and raise it.",
+    "Pick up the plastic soda bottle using the correct arm",
+    "Use the right arm to grab the brown bottle upright",
+    "Use the right arm to grab the bottle with red screw cap head-up.",
+    "Use the right arm to grab the bottle the bottle with red screw cap",
+    "Pick up the plastic soda bottle using the right arm in an upright position"
+  ]
+}